农机化研究
農機化研究
농궤화연구
JOURNAL OF AGRICULTURAL MECHANIZATION RESEARCH
2016年
3期
37-41,46
,共6页
陈科尹%邹湘军%彭红星%覃德泽
陳科尹%鄒湘軍%彭紅星%覃德澤
진과윤%추상군%팽홍성%담덕택
微分进化%采摘机器人运动正解%采摘机器人运动反解%目标函数
微分進化%採摘機器人運動正解%採摘機器人運動反解%目標函數
미분진화%채적궤기인운동정해%채적궤기인운동반해%목표함수
differential evolution%picking robot motion positive solutions%picking robot kinematic inverse solution%ob-jective function
针对传统的采摘机器人运动反解求法的求解过程过于繁琐及自适应性等不足,提出了一种基于微分进化的采摘机器人运动反解求取方法。该方法首先利用采摘机器人运动正解方程构造出求解采摘机器人运动反解的目标函数,然后运用微分进化算法的泛化性和自适应性对该目标函数进行优化处理,从而求解出采摘机器人运动反解。同时,为了分析该方法的性能,还分别对传统的采摘机器人运动反解和基于微分进化的采摘机器人运动反解进行了对比试验,从而验证了该方法的有效性和鲁棒性。
針對傳統的採摘機器人運動反解求法的求解過程過于繁瑣及自適應性等不足,提齣瞭一種基于微分進化的採摘機器人運動反解求取方法。該方法首先利用採摘機器人運動正解方程構造齣求解採摘機器人運動反解的目標函數,然後運用微分進化算法的汎化性和自適應性對該目標函數進行優化處理,從而求解齣採摘機器人運動反解。同時,為瞭分析該方法的性能,還分彆對傳統的採摘機器人運動反解和基于微分進化的採摘機器人運動反解進行瞭對比試驗,從而驗證瞭該方法的有效性和魯棒性。
침대전통적채적궤기인운동반해구법적구해과정과우번쇄급자괄응성등불족,제출료일충기우미분진화적채적궤기인운동반해구취방법。해방법수선이용채적궤기인운동정해방정구조출구해채적궤기인운동반해적목표함수,연후운용미분진화산법적범화성화자괄응성대해목표함수진행우화처리,종이구해출채적궤기인운동반해。동시,위료분석해방법적성능,환분별대전통적채적궤기인운동반해화기우미분진화적채적궤기인운동반해진행료대비시험,종이험증료해방법적유효성화로봉성。
According to the cumbersome and adaptive deficiencies of the picking robot kinematic inverse solution process , a picking robot kinematic inverse solution seeking method was presented based on the differential evolution algorithm . This method first utilizes picking robot motion positive equation to construct the objective function for solving picking robot motion inverse solution , and then uses the generalization and self-adaptive of the differential evolution algorithm to opti-mize the objective function , thus the picking robot kinematic inverse solution was solved .And in order to analyze the per-formance of this methodology , the traditional picking robot kinematic inverse solution and the picking robot kinematic in-verse solution based on the differential evolution algorithm were also respectively tested , which verified the effectiveness and robustness of the method in this paper .