基于改进遗传算法的工业机器人逆运动学求解
A Study of the Inverse Kinematics of Industrial Robot Based on Improved Genetic Algorithm
DOI: 10.12677/MET.2020.95043, PDF,    科研立项经费支持
作者: 杨忠瑞, 杨昌明, 刘 渝：西华大学机械工程学院，四川 成都
关键词: 逆运动学；遗传算法；工业机器人；小生境技术；Inverse Kinematics； Genetic Algorithm； Industrial Robot； Niche Technology
摘要: 针对工业机器人逆运动学求解问题，本文尝试将小生境技术、灾变技术和种群迁徙技术与传统遗传算法进行结合形成新的改进遗传算法，对逆运动学这一映射关系复杂、求解欺骗性强的优化问题进行求解，对PUMA560机械臂的逆运动学仿真结果表明，本文设计的改进遗传算法对逆运动学求解问题具有较高的求解精度。
Abstract: This paper attempts to combine niche technology, catastrophe technology and population migration technology with traditional genetic algorithm to form a new improved genetic algorithm to solve inverse kinematics problem of industrial robot. The result of inverse kinematics simulation of PUMA560 shows that the improved genetic algorithm has high precision when solving inverse kinematics problems.
文章引用：杨忠瑞, 杨昌明, 刘渝. 基于改进遗传算法的工业机器人逆运动学求解[J]. 机械工程与技术, 2020, 9(5): 403-410. https://doi.org/10.12677/MET.2020.95043

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