CAJ | 학술논문

机器人逆运动问题随着运动关节的增多而越来越复杂,要建立逆运动通用的解析算法相当困难.提出利用模拟退火粒子群优化算法在解空间的搜索能力,直接从正向运动方程出发求解机器人关节变量的方法,讨论了目标函数的建立方式及算法实现步骤.实验分析该方法在位置和姿态方面的求解精度,并证实了算法的有效性.
궤기인역운동문제수착운동관절적증다이월래월복잡,요건립역운동통용적해석산법상당곤난.제출이용모의퇴화입자군우화산법재해공간적수색능력,직접종정향운동방정출발구해궤기인관절변량적방법,토론료목표함수적건립방식급산법실현보취.실험분석해방법재위치화자태방면적구해정도,병증실료산법적유효성.
With the increase of joint number,inverse kinematics analysis of robot becomes more complex.So to establish a com-mon analytic algorithm of inverse kinematics is very difficult.Using simulated annealing particle swarm optimization algorithm to get the solution of the robot joint variables directly from the equations of kinematics is proposed.The method to establish objec-tive function and algorithm steps is discussed in this paper.Experimental results demonstrate the accuracy of the proposed algo-rithm both in position and attitude.