摘要
根据杆长约束条件,给出求解3-RPS并联机器人机构位置正解的无约束优化模型,并应用粒子群算法求解此优化问题。该算法具有控制参数少,全局优化能力较强等优点。数字实例表明,对于并联机构位置正解问题,粒子群算法收敛速度较快,精度较高。
The unconstrained optimization model for the forward position analysis of 3-RPS in-parallel manipulators, which is based on the constrained length of the bars, is presented. And then, the particle swarm optimization （PSO） algorithm is used for solving the optimization problem. The advantages of the PSO algorithm are that there are few pararneters to adjust and it has better global optimal capability. Numerical results for the forward position analysis of in-parallel manipulators show that the PSO algorithm possesses the performances of rather quick convergence speed and high precision.
出处
《现代制造工程》
CSCD
2006年第5期77-79,共3页
Modern Manufacturing Engineering
基金
泸州职业技术学院科研基金资助项目(K-05002)
泸州职业技术学院机电工程系科技创新基金资助项目(06A01)
