Redundant mechanical arm kinematics solving method based on analytical solution and improved genetic algorithm

Abstract

The invention discloses a redundant mechanical arm kinematics resolving method based on an analytical solution and an improved genetic algorithm, which comprises the following steps: A, improving a traditional DH method, and introducing a virtual joint to establish a joint coordinate system; B, constructing a mechanical arm forward kinematics model based on the improved DH parameter table; C, dividing the M joints into N redundant joints and MN non-redundant joints; D, solving an analytical solution of the non-redundant joint; E, generating an initial population of the genetic algorithm by taking the N redundant joints as variables; F, making inverse kinematics calculation with the track as a unit, and using variable interval search in the process of solving one track through the genetic algorithm; and G, repeating the steps E and F until all tracks are solved. Solving is carried out by taking the trajectory as a unit, the use of the evolutionary population is continued, the search speed and solution quality of the genetic algorithm are effectively improved, and the solution continuity is ensured; and meanwhile, a strategy of variable interval search and reference points is introduced to improve the understanding search speed and the self-adaptive degree.

Description

technical field [0001] The invention relates to robot kinematics technology, in particular to a redundant manipulator kinematics solution method combining an analytical solution and an improved genetic algorithm. Background technique [0002] The kinematics problem of the manipulator is the basis of the application of industrial robots and the premise of trajectory planning and real-time control of the manipulator. Only by determining the mapping relationship between the spatial pose of the end effector of the manipulator and the joint variables of the manipulator can programming be carried out control. [0003] A manipulator can be considered redundant if its number of degrees of freedom is greater than the number of degrees of freedom necessary to perform the target task. Redundancy provides the manipulator with the flexibility and functionality of its actions to avoid obstacles, joint limits, and singularities. [0004] Currently, the forward kinematics modeling methods...

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Problems solved by technology

[0005] For this reason, the present invention provides a redundant manipulator kinematics solution method based on an analytical solution and an improved genetic algorithm to solve the problems of difficult solution, slow speed and low precision of redundant manipulators in the prior art

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