一种新的六自由度机械臂运动学反解方法研究

摘要

Using parse method to solve the problem of inverse kinematic solution only suits the manipulators with specifically structure. Aiming at the limitation, this paper proposes the GA(Genetic Algorithms)with optimization on energy consuming to get the solution. In order to the convenience on calculation, proposes the four-link simplified module based on the kinematic ana-lytic of manipulator. Under the limitation of the upper limit and the lower limit, use the real number to code the comparative chromosome. Use the change of potential energy and the distance between the end of manipulator and the expected position to calculate the adaptation. Use the way of probability to realize the selection, crossover and mutation. The results show that the proposed method is valid on inverse kinematic solution of manipulator.%针对运用解析法对机械臂进行运动学反解仅适用于具有特定结构机械臂的不足，提出能量优化的遗传算法进行机械臂运动学反解的方法。为便于能量的量化计算，在进行机械臂运动学分析的基础上，建立四连杆简化模型。采用实数编码方式，以机械臂各关节角上下限为依据，建立与之相对应的染色体。以机械臂各连杆势能变化及机械臂末端与期望值之差作为适应度函数，评估个体的适应度。通过概率的方法实现选择、交叉和变异操作。实验结果证明了该方法的正确性。