摘要
本文针对冗余机械手的轨迹规划问题进行研究,提出了关节最佳柔顺性附加准则,以唯一确定机械手运动学逆解并建立了优化模型,然后通过新变量的引入和数学变换,成功地将多目标多参数优化问题转化为单目标单参数优化问题,使优化工作更加有效顺利地进行.同时,模拟生物体的实际免疫行为设计出了实用化的免疫遗传算法,利用此算法对寻优过程进行仿真研究,并且与简单遗传算法的结果进行比较,所得结果令人满意,证明了本文的方法能够有效地进行机械手轨迹规划,从而能够为充分发挥冗余度的作用以改善机械手运动提供新的思路.
In this paper, the investigations are carried out aiming at the problem of the planar redundant manipulator trajectory planning. Firstly, according to the speciality of the problem, the additional critic of the joint's best compliance is proposed to uniguely determine the inverse kinematics solution of the redundant manipulator and the mathematical optimization model is established . Secondly , by the introduction of a new variable and the artful mathematical transformations, the multi-object and multi-parametre optimization model is simplified to a single-object and single-parametre one, which makes the optimization can be carried out more successfully. Meanwhile, by simulating the real behavior of the biological immune system, the practicable Immune Genetic Algorithm ( IGA ) is designed . More successful result is got in manipulator ' s trajectory planning using IGA compared with using Simple Genetic Algorithm (SGA). Experiment results show that the new method can be used in manipulators trajectory planning effectively and will shed new light on how to bring the redundancy into full play to improve the movement of manipulator.
出处
《模式识别与人工智能》
EI
CSCD
北大核心
2002年第3期299-304,共6页
Pattern Recognition and Artificial Intelligence
基金
国家自然科学基金(No.69904009)
教育部高等学校骨干教师资助计划
浙江省重大自然科学基金(ZD0107)
