Mechanical arm inverse kinematics solving method based on chaotic and parallelized artificial bee colony algorithm
A chaotic bee colony algorithm and inverse kinematics technology, applied in calculation, calculation model, biological model, etc., can solve the problems that cannot satisfy the real-time control of the manipulator, avoid falling into local optimum and speed up the convergence speed , The effect of increasing the solution speed
Active Publication Date: 2017-05-10
SOUTH CHINA UNIV OF TECH
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[0006] The purpose of the present invention is to overcome the deficiencies in the prior art, provide a kind of mechanical arm inverse kinematics solving method CPABC (Chaotic and Parallelized Artificial Bee Colony) based on parallel chaotic bee colony algorithm, this method considers in solving the inverse kinematics problem It has the requirements of fast convergence speed and strong global search ability, and overcomes the problem that the ABC algorithm and its improved algorithm cannot satisfy the real-time control of the manipulator and obtain a better inverse solution.
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[0051] The present invention will be further described below in conjunction with specific examples.
[0052] Take the typical six-degree-of-freedom robotic arm PUMA560 as an example. The PUMA560 robotic arm has six degrees of freedom and all joints are rotational joints. The first three joints mainly affect the position of the end effector, and the last three joints determine the attitude of the end effector. The D-H method is used to represent and model the PUMA560 manipulator, and the forward kinematic equations are derived. Figure 1a , 1b shows the distribution of the link coordinate system when all joint angles are zero, where Figure 1b Indicates the distribution of the forearm of the manipulator. The following table 1 shows the D-H parameters of PUMA560:
[0053] Table 1 D-H parameters of PUMA560
[0054] joint angle alpha i-1 (Spend)
a i-1 (rice)
d i (rice)
θ i (Spend)
Range (degrees) 1 0 0 0 θ 1
-160～160 2 -9...
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The invention discloses a mechanical arm inverse kinematics solving method based on a chaotic and parallelized artificial bee colony algorithm. The method comprises the steps of 1), in an initialization phase, initializing a food source group through chaotic mapping and dividing the whole group into a plurality of mutually independent subgroups for parallel evolution; 2), in an employing bee phase, introducing control parameters to adjust search pace and parameter modification frequency when employing bees search new food sources; 3), calculating a selected probability of each food source based on a fitness value; 4), in an observation bee phase, selecting one food source for tracking by observation bees according to a roulette method; 5), in a detection bee phase, searching new food sources by detection bees and replacing the food sources with scanty nectar; and 6), in an information communication phase, replacing the relatively poor food source of one subgroup by the relatively good food source of the other subgroup. According to the method provided by the invention, the performance of the basic artificial bee colony algorithm in solving a mechanical arm inverse kinematics problem is improved, and the relatively fast convergence rate and relatively high global search capability are achieved.
Description
technical field [0001] The invention relates to the technical field of robot inverse kinematics, in particular to a method for solving the inverse kinematics of a mechanical arm based on a parallelized chaotic bee colony algorithm. Background technique [0002] Given the expected pose of the end effector of the manipulator, it is required to calculate the joint angles that meet the expected requirements. This type of problem is called the inverse kinematics problem of the manipulator. The methods for solving the inverse kinematics of the manipulator are divided into two categories: closed solution and numerical solution. The closed solution method has a fast solution speed and is easy to determine all possible solutions, but its scope of application is small, and closed solutions (analytical solutions) exist only for manipulators with very special structural parameters. The numerical solution method has a wide range of applications, but its iterative nature leads to slow so...
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Login to View More IPC IPC(8): G06N3/00
CPCG06N3/006
Inventor 张立肖南峰
Owner SOUTH CHINA UNIV OF TECH