一种用于冗余机械臂解析逆运动学的多目标优化方法

A Multi-objective Optimization Method for Solving the Analytical Inverse Kinematics of Redundant Manipulator

为实现工程机械的多自由度臂架智能运动控制,本文结合参数化关节方法,改进MOEA/D形成:IM-IK算法(Improved MOEA/D-inverse kinematics),来解决冗余机械臂逆运动学问题,该算法在MOEA/D算法框架中加入自适应区间搜索策略以提升算法局部搜索能力,提高求解速度。本文将IM-IK算法应用到8自由度冗余机械臂上,与NSGA-II、MOEA/D及T-IK算法进行了试验对比,各项试验指标均证明了IM-IK算法在处理冗余机械臂的逆运动学问题上具有优于其他算法的综合性能,可在满足机械臂末端执行器位姿精度要求的前提下,同时保障机械臂关节运动连续性和有效避开关节极限。

In order to realize the intelligent motion control of multi-DOF(degree of freedom)boom of construction machinery,combined with the parametric joint method and MOEA/D(Multi-objective evolutionary algorithm based on decomposition),an IMIK algorithm(Improved MOEA/D-inverse kinematics)is proposed to solve the inverse kinematics problem of redundant manipulator in this paper.The algorithm adds an adaptive interval search strategy to the MOEA/D algorithm framework to improve the local search ability and solution speed of the algorithm.IM-IK algorithm is applied to an 8-DOF redundant manipulator,and compared with NSGA-II(Nondominated sorting genetic algorithm II),MOEA/D and T-IK algorithms.All test indexes prove that IM-IK algorithm has better comprehensive performance than other algorithms in dealing with the inverse kinematics of redundant manipulator,and can meet the position and orientation accuracy requirements of manipulator's end effector,it can also ensure the joints motion continuity of the manipulator and effectively avoids the joints limit.