Manipulator track inverse kinematics solving method and device and storage medium
An inverse kinematics and manipulator technology, applied in the field of robot automatic control, can solve problems such as easy to fall into local minimum value and slow convergence speed, and achieve the effect of fast solution speed and small amount of calculation.
Pending Publication Date: 2019-12-20
JIANGXI UNIV OF SCI & TECH
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[0005] The purpose of the embodiment of the present invention is to provide a method, device and storage medium for solving the inverse kinematics of the manipulator trajectory, so as to solve the problems of slow convergence speed and easy to fall into local minimum when the existing intelligent optimization algorithm solves the inverse kinematics problem question
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[0050]Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.
[0051] In the embodiments of the present invention, the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, commodity or apparatus comprising a series of elements includes not only those elements, but also Include other elements not expressly listed, or also include elements inherent in such process, method, commodity or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.
[0052] Such as figure 1 As s...
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The embodiment of the invention provides a manipulator track inverse kinematics solving method and device and a storage medium, and belongs to the technical field of automatic control. The method comprises the following steps: establishing a kinematic model of a manipulator according to a DH coordinate method; acquiring a pose space of a manipulator tail end joint based on the kinematics model, establishing a manipulator joint space prediction model, and predicting a joint space of the manipulator according to the pose space of the manipulator tail end joint and the manipulator joint space prediction model; wherein the manipulator joint space prediction model is obtained by training a neural network through an adaptive particle swarm algorithm and an LM algorithm. According to the method,the connection weight and the threshold value in the neural network are optimized through the adaptive particle swarm algorithm, the LM algorithm is used for replacing a gradient descent algorithm, the defect that a traditional neural network is prone to falling into a local optimal solution, and consequently the output error is large is overcome, and meanwhile the method has the advantages of being small in calculated amount and high in solving speed.
Description
technical field [0001] The present invention relates to the technical field of robot automatic control, in particular to a method for solving the inverse kinematics of the trajectory of a manipulator, a device for solving the inverse kinematics of the trajectory of a manipulator, and a computer-readable storage medium. Background technique [0002] The kinematics inverse solution of serial robots has always been a major difficulty in the field of robotics, and it is also the focus of kinematics analysis of serial robots, occupying an important position in robotics. The inverse kinematics solution of the series robot can be described as follows: the position and orientation of the end of the robot are known, and the joint variable information that satisfies the conditions is obtained, that is, the transformation from the drive space to the joint space is completed. It is the key to the study of robot path planning, trajectory tracking control, etc. basis of sexuality. [000...
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Login to View More IPC IPC(8): G06F17/50G06N3/00G06N3/08
CPCG06N3/006G06N3/084
Inventor 蔡改贫刘鑫占鹏飞徐素莹杨鄞铭
Owner JIANGXI UNIV OF SCI & TECH