基于改进蝴蝶优化算法的冗余机器人逆运动学求解

Research on Solving Inverse Kinematics Problem of Redundant Robot Based on Improved Butterfly Optimization Algorithm

为提高冗余机器人逆运动学求解的精度,在研究蝴蝶优化算法(BOA)的基础上,将反向学习策略、柯西变异机制、余弦指引机制引入BOA中,提出了改进蝴蝶优化算法(IBOA)并将其应用于冗余机器人逆运动学求解中。3个典型测试函数的结果表明,IB0A的求解精度、求解速度和计算稳定性比BOA和两种改进型BOA更优;冗余机器人逆运动学求解实例结果表明,IBOA的求解结果更佳,机器人位姿误差更小,具有一定的优势。

In order to improve the accuracy of inverse kinematics of redundant robots,on the basis of studying of butterfly optimization algorithm(BOA),the reverse learning strategy,Cauchy mutation mechanism and cosine guidance mechanism are introduced into BOA and an improved butterfly optimization algorithm(IBOA)is proposed and applied to inverse kinematics of redundant robots.The results of three typical test functions show that the accuracy,speed and stability of the IBOA are better than BOA and two improved BOAs.The results of inverse kinematics solution of redundant robots show that the result of the IBOA is better and the robot pose error is smaller,which has certain advantages.