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针对冗余机器人逆运动学插值优化算法运算量大、实时性差的缺点,提出一种基于流形的多目标优化算法.将冗余机器人逆运动学解空间看作一个光滑流形,对位置工作空间流形和姿态工作空间流形分别进行降维分析,然后结合提出的优化目标函数得到冗余机器人相应的优化逆解.在冗余机器人多目标优化中各个优化性能指标很可能是相互对立矛盾的,这就需要根据优先权的高低进行加权设置,以达到冗余机器人解空间的整体优化,得到的优化逆解往往不是单个的解,而是一个优化的解流形.最后利用飞机S形进气道进行逆运动学仿真验证了所用方法的合理性.
Aimed at the shortcomings of large computational complexity and poor real-time performance of redundant robot inverse kinematics interpolation optimization algorithm, a manifold-based multi-objective optimization algorithm is proposed. The redundant robot inverse kinematics solution space is regarded as a smooth manifold, Space manifold and attitude workspace respectively, and then the corresponding optimal inverse solution of the redundant robot is obtained by combining the proposed optimization objective function.Optimized performance indexes in the redundant robot multi-objective optimization are likely to be contradictory to each other , Which needs to be weighted according to the level of priority in order to achieve the overall optimization of redundant robot solution space, the resulting optimal inverse solution is often not a single solution, but an optimized solution manifold Finally, the use of aircraft S-shaped Inverse kinematics simulation of the inlet duct validates the rationality of the method used.