Inverse Kinematics Solution of Redundant Manipulator based on Improved Particle Swarm Optimization Algorithm

Jianping Shi; Peng Liu; Dongyun Chen

doi:10.16578/j.issn.1004.2539.2021.02.011

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Inverse Kinematics Solution of Redundant Manipulator based on Improved Particle Swarm Optimization Algorithm

Design· Calculation | 更新时间：2022-11-10

- Inverse Kinematics Solution of Redundant Manipulator based on Improved Particle Swarm Optimization Algorithm
- Journal of Mechanical Transmission Vol. 45, Issue 2, Pages: 69-75(2021)
- 作者机构：
  
  1.贵阳学院电子与通信工程学院，贵州贵阳 550005
  2.河北地质大学宝石与材料工艺学院，河北石家庄 050031
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.02.011
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石建平,刘鹏,陈冬云.基于改进粒子群优化算法的冗余机械臂逆运动学求解[J].机械传动,2021,45(02):69-75.

Shi Jianping,Liu Peng,Chen Dongyun.Inverse Kinematics Solution of Redundant Manipulator based on Improved Particle Swarm Optimization Algorithm[J].Journal of Mechanical Transmission,2021,45(02):69-75.
石建平,刘鹏,陈冬云.基于改进粒子群优化算法的冗余机械臂逆运动学求解[J].机械传动,2021,45(02):69-75. DOI： 10.16578/j.issn.1004.2539.2021.02.011.

Shi Jianping,Liu Peng,Chen Dongyun.Inverse Kinematics Solution of Redundant Manipulator based on Improved Particle Swarm Optimization Algorithm[J].Journal of Mechanical Transmission,2021,45(02):69-75. DOI： 10.16578/j.issn.1004.2539.2021.02.011.

摘要

以末端执行器的位姿误差最小为优化目标，将机器人的逆运动学问题转换为一个等效的最优化问题，并利用提出的改进粒子群优化算法对该问题进行求解。该算法从粒子群的初始化、惯性权重调整策略、差分变异进化及搜索空间的越界处理等多方面对标准粒子群优化算法进行综合改进，同时构建了以粒子群进化和差分变异进化为基础的两阶段混合协同进化机制，达到了有效平衡算法全局探索能力与局部开发能力的目的，提高了算法的收敛精度和收敛速度。以平面冗余机械臂和7自由度冗余机械臂的运动学逆解运算为例，将提出算法与对比算法用于逆运动学问题的求解。仿真结果表明，与对比算法比较，该算法具有更高的收敛精度、更快的收敛速度以及更强的寻优稳定性，能有效解决冗余机械臂的逆向运动学问题。

Abstract

Taking the minimizing pose error of the end-effector as the objective function， the inverse kinematics problem of redundant manipulator is transformed into an equivalent optimization problem. An improved particle swarm optimization algorithm is proposed to solve this optimization problem. The algorithm is comprehensively improved from the aspects of particle population initialization， inertia weight adjustment strategy， differential mutation operation as well as the boundary violation treatment of searching space. At the same time， a two-stage hybrid coevolution mechanism based on particle swarm evolution and differential mutation evolution is constructed. As a result， the global exploration and the local exploitation of the algorithm are reasonably and effectively balanced， the convergence precision and speed of the algorithm are improved. Taking the inverse kinematics solutions of a planar redundant manipulator and a 7-DOF redundant manipulator as examples， the proposed algorithm and the comparison algorithms are used to solve the inverse kinematics problem. The simulation results show that compared with the comparison algorithm， the proposed algorithm has higher convergence accuracy， faster convergence speed and stronger optimization stability. The proposed algorithm can effectively solve the inverse kinematics problem of redundant manipulator.

关键词

冗余机械臂逆运动学粒子群优化算法混沌变异

Keywords

Redundant manipulatorInverse kinematicsParticle swarm optimization algorithmChaosMutation

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