基于改进遗传算法的含间隙平面二连杆机器人模型辨识研究

Research on Identification of a Two-bar Linked Robot Model with Clearance Based on Improved Genetic Algorithm

针对含间隙机器人难以建立较准确的数学模型问题,以含间隙二连杆机器人为例,分别运用最小二乘法、传统遗传算法和改进遗传算法对其进行参数辨识;其中改进遗传算法分别从编码方法、交叉算子、变异算子以及交叉概率和变异概率的自适应改进方面对传统遗传算法进行了改进,解决传统算法容易发生"早熟"现象的问题。研究结果表明:利用3种辨识法对含间隙二连杆机器人进行参数辨识时,改进遗传算法辨识精度最高,收敛速度最快。与传统的应用动力学建模相比,应用该辨识方法更方便快速,为构建含间隙机器人系统模型提供了参考。

Aiming at the problem that it is difficult to establish accurate mathematical model for robot systems with joints clearances using traditional dynamic methods,a two-link robot with clearances was taken as an example and the least square method,traditional genetic algorithm and improved genetic algorithm were applied to perform parameter identification.With the improved genetic algorithm improved the traditional genetic algorithm from the coding method,crossover operator,mutation operator,and adaptive improvement of crossover probability and mutation probability,the problem of"premature"phenomena was solved.The results indicate that the improved genetic algorithm has the highest identification accuracy and the fastest convergence speed in the parameter identification of two-link robots with clearance using the three identification methods.Compared with traditional dynamics modeling,the identification method is more convenient and fast,and it provides a reference for the model constructing of a robot system with clearances.