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Forward kinematics solving method of parallel robot

A positive kinematics, robotics technology, applied in the field of robotics, can solve problems such as easy to fall into local extreme points

Active Publication Date: 2013-03-13
SUZHOU SUXIANG ROBOT INTELLIGENT EQUIP CO LTD
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Problems solved by technology

Although the conventional differential algorithm has a strong global optimization performance, it still has the defect of being premature and easy to fall into the local extreme point. Therefore, when the differential algorithm is applied to solve the forward kinematics problem of the 6-SPS parallel robot Improve

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  • Forward kinematics solving method of parallel robot
  • Forward kinematics solving method of parallel robot
  • Forward kinematics solving method of parallel robot

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Embodiment Construction

[0041] Practice has proved that each single search method has its own defects when solving complex optimization problems due to its own inherent mode. If two different search algorithms are fused with each other to form a hybrid algorithm, its search performance is usually better than that of a single algorithm. . Pattern search is an effective and simple deterministic search method. It consists of two parts: exploratory movement and pattern movement. Through continuous detection movement and pattern movement, it gradually approaches the extreme point. Therefore, pattern search has a fast convergence speed and local Strong search ability. Based on this, the present invention integrates the pattern search operation into the differential evolution algorithm, proposes a numerical optimization method based on the pattern search-differential evolution fusion algorithm, and successfully applies it to the process of solving the forward kinematics problem of the 6-SPS parallel robot. ...

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Abstract

The invention discloses a forward kinematics solving method of a parallel robot. When the method is applied to solve the forward kinematics problem of the parallel robot, the characteristic of easily solving inverse kinematics of the method is utilized, the forward kinematics solving problem of the parallel robot is converted into the equivalent minimal optimization problem, and the numerical optimization method is used for solving the problem. The method is integrated with the advantage of differential evolution having excellent global exploration performance on the solution space and the characteristic of pattern search having good local development capability on the solution space; and the mutual mechanisms of the two optimization algorithms are merged so that the search performance of the algorithms is improved. Compared with the traditional method, the method provided by the invention has high optimal solution searching accuracy and high rate of convergence while solving the forward kinematics problem of a 6-SPS type parallel robot; and simultaneously, the method also can be popularized to solve the forward kinematics problems of the parallel robots of other types.

Description

technical field [0001] The invention proposes a method for solving the forward kinematics of a 6-SPS parallel robot based on Pattern Search (Pattern Search, PS)-differential evolution (Differential Evolution, DE), which belongs to the field of robot technology. Background technique [0002] Compared with series robots, parallel robots have the characteristics of high rigidity, high micro-motion accuracy and large load capacity, so they are widely used in some high-end technical fields such as micro-manipulation robots, parallel machine tools and coordinate measuring machines. The kinematics problem of 6-SPS parallel robot can be divided into inverse kinematics and forward kinematics. The former is to solve the rod length of each parallel tie rod according to the position and attitude of the upper moving platform of the parallel robot; the latter is the opposite, the forward kinematics problem The position and attitude of the upper moving platform of the robot are determined ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06N3/12
Inventor 任子武王振华孙立宁
Owner SUZHOU SUXIANG ROBOT INTELLIGENT EQUIP CO LTD
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