一种改进的爬山法优化求解冗余机械手运动学逆解

AN AMELIORATIVE "MOUNTAIN CLIMBING" ARITHMETIC TO SOLVE INVERSE KINEMATICS OF REDUNDANT MANIPULATOR

本文提出了一种带符号的特殊进制来描述一个十进制数值 ,确定了该特殊进制的使用规律 ,从而推导出该特殊进制完整的描述公式 .在此基础上 ,对人工智能领域的一种启发式搜索算法——“爬山法”作了一定的改进 ,采用变步长技术 ,以带符号的特殊进制方法为理论基础来确定每一次优化搜索的步长 ,从而求解具有多冗余度的机械手运动学逆解 .此优化算法可在无穷多组可能解中通过有限的搜索次数迅速找到一个符合条件的可能解 ,同时不需要计算反三角函数和矩阵求逆 ,推导和计算结果证明该算法简单、运算量少、收敛速度快 ,稳定性好。

A method to describe a numeral value with a special numeration system is introduced in this paper, and the applied rules are defined, and then expression of the special numeration system is derived. This method is used to define the steps of the optimal algorithm, and then this algorithm is applied to computing an inverse solution of the redundant manipulator kinematics. A likelihood solution can be found quickly in the infinitude groups of likelihood solutions within the limited search times. In this algorithm, anti trigonometric function and the inverse matrix are not needed. The derivation and simulation show that the algorithm has many good qualities such as concise arithmetic, tiny calculation, fast convergence velocity, well stability and extensive adaptability.