摘要
针对冗余机械臂求逆解时由于关节限位造成关节角度可能取到危险位置的问题,以七自由度冗余机械臂为研究对象,提出一种躲避关节限位的逆运动学求解智能算法。首先,在机械臂正运动学方程的基础上引入最佳柔顺性优化约束条件,构建优化目标函数;其次,引入人工势场法对灰狼优化算法狼群初始化位置进行改进,并且非线性化灰狼优化算法的收敛因子;最后,采用MATLAB软件进行求逆解仿真。仿真结果表明,改进灰狼优化算法可以有效减小机械臂求逆解时取得的关节角度与零角度的差值,相比传统灰狼优化算法,该差值之和平均减小了35.31%,而且改进灰狼优化算法具有较高求解精度和较强收敛性,可以满足实际工作中机械臂求逆解的使用要求。
Aiming at the problem that the joint angle may get to the dangerous position due to joint limitation when solving the inverse solution of redundant manipulator,taking the seven-degree-of-freedom redundant manipulator as the research object,an intelligent inverse kinematics solving algorithm to avoid joint limitation was proposed.Firstly,based on the forward kinematics equation of the manipulator,the optimal compliance optimization constraints were introduced to construct the optimization objective function.Secondly,the artificial potential field method was introduced to improve the initialization position of gray wolf optimizer algorithm,and the convergence factor of gray wolf optimizer algorithm was nonlinear.Finally,the simulation of inverse solution was carried out with MATLAB software.The results show that the improved gray wolf optimizer algorithm can effectively reduce the difference between the joint angle obtained when solving the inverse solution of the manipulator and the zero angle,the sum of the differences was 35.31%on average compared with the traditional gray wolf optimizer algorithm.Moreover,the improved gray wolf optimizer algorithm has high solution accuracy and convergence,and can meet the requirements of inverse solution of manipulator in practical work.
作者
孙立新
耿庆琳
唐家豪
高春艳
张明路
SUN Lixin;GENG Qinglin;TANG Jiahao;GAO Chunyan;ZHANG Minglu(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China)
出处
《现代制造工程》
CSCD
北大核心
2022年第8期46-52,共7页
Modern Manufacturing Engineering
基金
国家重点研发计划资助项目(2018YFB1305303)。
关键词
七自由度冗余机械臂
逆运动学
改进灰狼优化算法
优化
seven-degree-of-freedom redundant manipulator
inverse kinematics
improved gray wolf optimizer algorithm
optimization
