摘要
为提高工业机器人的定位精度,提高其满足工作要求的能力,提出了基于改进金豺狼优化算法(IGJO)的机器人定位精度提升新方法。首先,基于MDH模型建立了机器人运动学参数辨识的误差模型和目标函数。其次,针对金豺狼优化算法(GJO)存在的不足,引入柯西变异策略,提出了IGJO算法,给出了IGJO用于参数变数的步骤。最后,以RB1200-5-0.9型机器人为例,利用IGJO对运动学参数进行辨识切。结果表明:IGJO能够快速完成机器人运动学参数辨识,且绝对定位精度较辨识前和GJO有大幅提高,具有一定的优势。
In order to improve the positioning accuracy of industrial robots and improve their ability to meet job requirements,a new method based onimproved golden jackal optimization algorithm(IGJO)is proposed.Firstly,the kinematic parameter identification error model and the objective function are established based on MDH model.Secondly,aiming at the shortcomings of the golden jackal optimization algorithm(GJO),the IGJO algorithm is proposed by introducing the Cauchy mutation strategy,and the steps of using IGJO for parameter variables are given.Finally,IGJO is used to identify the kinematic parameters of a RB1200-5-0.9 robot.The results show that IGJO can quickly identify the kinematic parameters of the robot,and the absolute positioning accuracy is significant improved compared with before identification and GJO,which has certain advantages.
作者
劳淞
潘亚娟
胡义华
LAO Song;PAN Yajuan;HU Yihua(School of Mechanical and Electrical Engineering,Liuzhou Vocational&Technical College,Liuzhou Guangxi 545000,China;School of Mechanical Engineering,Liuzhou Institute Of Technology,Liuzhou Guangxi 545000,China;School of Mechanical and Automotive Engineering,Guangxi University of Science and Technology,Liuzhou Guangxi 545616,China)
出处
《机械设计与研究》
CSCD
北大核心
2024年第1期46-50,共5页
Machine Design And Research
基金
广西科技计划-创新驱动发展专项(桂科AA21077017)。
