Inverse Kinematic Solution for Robot Manipulator Based on Electromagnetism-like and Modified DFP Algorithms
-
摘要: 提出一种用于计算机械手逆运动学问题的新方法. 首先, 在关节变量取值范围内随机生成一组初始解, 并根据吸引-排斥机制迭代的搜索问题的近似最优解; 其次, 提出一种改进DFP算法进一步搜索问题的更精确解. 改进DFP算法以第一阶段求得的近似解为起始搜索点, 每步的搜索步长在区间[0, 1]内随机确定, 从而避免了传统DFP算法搜索步长难以计算的问题. 最后, 通过10个测试函数和PUMA560机器人逆运动学问题验证了算法的有效性.Abstract: A new method for computing numerical solutions to the inverse kinematics problem of robotic manipulators is developed in this paper. With the joint limitations, the electromagnetism-like method (EM) utilizes an attraction-repulsion mechanism to move the sample points towards the optimum solution rapidly. Based on this approximate solution given by EM, a modified Davidon-Fletcher-Powell (DFP) algorithm is developed to solve the problem at the desired precision. Unlike the traditional algorithms, this modified DFP (MDFP) algorithm randomly chooses the search step size between 0 and 1. Hence, the computational complexity is greatly reduced. The experimental results based on ten general test functions and PUMA 560 robot show that this new near-real time hybrid method can produce best performance.
点击查看大图
计量
- 文章访问数: 2326
- HTML全文浏览量: 36
- PDF下载量: 3128
- 被引次数: 0