Improved particle swarm algorithm based inverse kinematics calculation method for permanent magnetic spherical motor

A technology for improving particle swarms and inverse kinematics, applied in computing, electrical digital data processing, special data processing applications, etc., and can solve problems such as premature convergence of local optimum, complex solution process, and poor robustness.

Active Publication Date: 2015-11-11
TIANJIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Its disadvantages are complex solution process, low solution accuracy and poor robustness.
However, the standard particle swarm optimization algorithm, as a general random global search algori

Method used

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  • Improved particle swarm algorithm based inverse kinematics calculation method for permanent magnetic spherical motor
  • Improved particle swarm algorithm based inverse kinematics calculation method for permanent magnetic spherical motor
  • Improved particle swarm algorithm based inverse kinematics calculation method for permanent magnetic spherical motor

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Effect test

Embodiment 1

[0043]The permanent magnet spherical motor can greatly increase the magnetic energy product of the motor, effectively improve the operating efficiency of the motor, reduce the volume of the motor, and improve the controllability of the motor. It has a wide range of applications in fields such as robots and intelligent flexible manufacturing systems that require three-dimensional space. . The inverse kinematics of permanent magnet spherical motor, as the basis of dynamic control, motion analysis, off-line programming and trajectory planning, has become an urgent problem to be solved.

[0044] The solution method of inverse kinematics is divided into analytical method and intelligent algorithm. The former is a set of very complex nonlinear equations about generalized Euler angles, the calculation is more complicated and the solution is more difficult. In the intelligent algorithm, in view of the complex, difficult, poor robustness of the neural network and the insufficient preci...

Embodiment 2

[0096] In order not to lose generality, when the initial value of the Euler angle is not zero, the rotor output shaft moves on a complex trajectory. In the simulation, the initial coordinates of the position point of the rotor output shaft are (x i ,y i ,z i )=(0,0.6,0.8), the given Euler angle is defined in Cartesian space as:

[0097] α(n+1)=2*sin(1.5*(t n +0.02))

[0098] β(n+1)=sin(pi / 2*(t n +0.02)-pi / 6)+cos(1.5*pi*(t n +0.02))t 0 =0,t 150 =3

[0099] γ(n+1)=2*cos(2*(t n +0.02))*sin(0.5*(t n +0.02))

[0100] The improved particle swarm optimization algorithm is used to discretize the solution to the continuous change of Euler angles. Comparing the given Euler angle change trajectory with the Euler angle change obtained by the improved particle swarm algorithm, the comparison results are as follows Figure 4 As shown, among them, Figure 4 (a), (b), and (c) respectively correspond to the comparison of three Euler angles α, β, and γ. Using the obtained Euler an...

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Abstract

The invention relates to an improved particle swarm algorithm based inverse kinematics calculation method for a permanent magnetic spherical motor. The method is carried out by the following steps of: step 1: determining a coordinate position of an output shaft of a rotated rotor according to initial position coordinates of the output shaft of the rotor and an obtained Euler angle, and taking a distance between the given coordinate position of the output shaft of the rotated rotor and an actually obtained coordinate position as a fitness function; and step 2: calculating the Euler angle corresponding to inverse kinematics of the permanent magnetic spherical motor by applying an improved particle swarm algorithm based on a simulated annealing algorithm. The method can effectively calculate a local optimal solution and has relatively high calculation precision.

Description

technical field [0001] The invention belongs to the technical field of solving the inverse kinematics of a permanent magnet spherical motor, and relates to a method for solving the inverse kinematics of a permanent magnet spherical motor based on an improved particle swarm algorithm. Background technique [0002] With the development of high-precision and complex control systems such as mechanical joints, the requirements for the accuracy and stability of the driving mechanism are increasing. Traditionally, the accumulation of errors in a control system composed of multiple single-degree-of-freedom motors and complex mechanical transmission mechanisms leads to a decrease in the accuracy of the entire control system, and even affects the overall stability of the system. The multi-degree-of-freedom motor with permanent magnets can greatly increase the magnetic energy product of the motor, effectively improve the operating efficiency of the motor, reduce the volume of the motor...

Claims

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Application Information

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IPC IPC(8): G06F17/50
Inventor 李洪凤杨康
Owner TIANJIN UNIV
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