摘要
将并联机器人运动学位置正解转化为求解一组多元非线性方程的优化问题,提出了改进遗传算法进行优化求解,依靠计算灰色关联度对求解结果进行分组的方法,并通过实例计算得到了3-6结构6自由度Stewart平台并联机器人的7组实解.研究结果表明该方法简单方便,求解精度高且具有通用性.
The problem of forward kinematics is treated as optimization of multi-variable nonlinear equation group in this paper. Improved genetic algorithms are used to obtain optimum values, and a new grouping method is presented based on gray relative analysis. Seven groups of real values of the 6-DOF Stewart parallel platform are provided as examples. It is proved that the proposed method is simple, effective and useful in solving forward kinematics problems for parallel robots.
出处
《应用科学学报》
CAS
CSCD
北大核心
2005年第5期522-525,共4页
Journal of Applied Sciences
关键词
改进遗传算法
运动学正解
并联机器人
improved genetic algorithms
forward kinematics
parallel robot
