摘要
在分析运动学逆解方法的基础上，应用遗传算法求解柔型多功能机器人运动学逆解，给出了用于优化求解的适合度函数，并应用二次编码法提高解的精度。计算机模拟结果证明：该方法能快速收敛于全局最优解，能给出柔型多功能机器人的可能解，并能计算冗余度机器人的逆解。
A new method using genetic algorithm for computing numerical solutions of the inverse kinematics problem of flexible multifunction robot is developed in this paper.The proposed method is based on the analysis of previous method.The fitness function for solving the problem is defined,recording method is provided in order to improve the solution accuracy.Computer simulation shows that the algorithm can be quickly convergent at global optimum,can give out certain solutions for inverse kinematics problem of flexible multifunction robot,and can solve the inverse kinematics problem of redundant robot.
出处
《西安理工大学学报》
CAS
1999年第1期101-105,共5页
Journal of Xi'an University of Technology
基金
机械工业发展基金
陕西省"九五"科技攻关项目
关键词
遗传算法
柔型多功能机
运动学逆解
机器人
genetic algorithm
flexible multifunction fobot
inverse kinematics
fitness function
recording method
redundant robot
