留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

改进混沌麻雀搜索算法及其在冗余机械臂逆运动学求解中的应用

于权伟 李光 谢楚政 吴陈诚 薛晨慷

于权伟,李光,谢楚政, 等. 改进混沌麻雀搜索算法及其在冗余机械臂逆运动学求解中的应用[J]. 机械科学与技术,2023,42(5):702-708 doi: 10.13433/j.cnki.1003-8728.20200624
引用本文: 于权伟,李光,谢楚政, 等. 改进混沌麻雀搜索算法及其在冗余机械臂逆运动学求解中的应用[J]. 机械科学与技术,2023,42(5):702-708 doi: 10.13433/j.cnki.1003-8728.20200624
YU Quanwei, LI Guang, XIE Chuzheng, WU Chencheng, XUE Chenkang. Applying Improved Chaotic Sparrow Search Algorithm to SolvingInverse Kinematics of Redundant Manipulator[J]. Mechanical Science and Technology for Aerospace Engineering, 2023, 42(5): 702-708. doi: 10.13433/j.cnki.1003-8728.20200624
Citation: YU Quanwei, LI Guang, XIE Chuzheng, WU Chencheng, XUE Chenkang. Applying Improved Chaotic Sparrow Search Algorithm to SolvingInverse Kinematics of Redundant Manipulator[J]. Mechanical Science and Technology for Aerospace Engineering, 2023, 42(5): 702-708. doi: 10.13433/j.cnki.1003-8728.20200624

改进混沌麻雀搜索算法及其在冗余机械臂逆运动学求解中的应用

doi: 10.13433/j.cnki.1003-8728.20200624
基金项目: 湖南省自然科学基金项目(2018JJ4079)
详细信息
    作者简介:

    于权伟(1995−),硕士研究生,研究方向为机器人的智能控制,907741033@qq.com

    通讯作者:

    李光,教授,硕士生导师,博士,liguang@hut.edu.cn

  • 中图分类号: TP242.2

Applying Improved Chaotic Sparrow Search Algorithm to SolvingInverse Kinematics of Redundant Manipulator

  • 摘要: 针对冗余机械臂不满足Pieper准则,无法获得逆运动学封闭解的问题,提出一种自适应混沌麻雀搜索算法(ACSSA)。首先,利用佳点集均匀分布特性生成初始化种群;其次,引入自适应动态权重,用于平衡全局和局部搜索能力,提高种群多样性,改善陷入局部最优的问题;最后,引入高斯变异,加强局部搜索能力,同时产生Tent混沌序列,防止陷入局部最优。将ACSSA应用到冗余机械臂逆向运动学求解中,分别对空间点到点运动和空间连续轨迹跟踪两种工况进行仿真,并与CSSA和SSA进行对比。结果表明:在第一种工况下,ACSSA在收敛精度上提高了2个数量级,在算法稳定性上比CSSA、SSA分别高出2、3个数量级;第二种工况下,在计算值与理论值的绝对误差精度和稳定性这两个评定指标上,ACSSA 较CSSA提高了1个数量级,较SSA提高了6个数量级。充分说明了ACSSA具有精度高、收敛速度快的特性。
  • 图  1  混沌序列分布

    图  2  动态权重策略

    图  3  冗余机械臂结构简图

    图  4  3种算法位姿求解曲线对比图

    图  5  3种算法独立运行200次的位姿收敛曲线

    图  6  ACSSA算法求得的各关节角

    图  7  ACSSA的轨迹仿真

    表  1  冗余机械臂各关节D-H参数

    关节i变量 变量范围/(°)ai-1
    /mm
    αi−1/(°)di/mm
    1θ1 −180 ~ 1800−90580
    2θ2 −100 ~ 1000900
    3θ3 −180 ~ 1800−90690
    4θ4 −120 ~ 9090900
    5θ5 −180 ~ 1800−90880
    6θ6 −115 ~ 1150900
    7θ7 −360 ~ 36000150
    下载: 导出CSV

    表  2  3种算法各自求得的一组逆运动学解

    关节角/radACSSACSSASSA
    θ10.991190.974641.00012
    θ21.011891.036410.99987
    θ30.991191.071770.99979
    θ41.000001.000000.99991
    θ50.974620.922880.99971
    θ60.992720.978410.99966
    下载: 导出CSV

    表  3  3种算法独立运行200次时f1结果 mm

    位姿误差f1ACSSACSSASSA
    最大值5.48905 × 10−46.42113 × 10−20.09787
    最小值5.73837 × 10−68.69395 × 10−64.17924 × 10−5
    平均值1.93474 × 10−51.04144 × 10−30.00866
    标准差6.07342 × 10−54.64587 × 10−30.04744
    下载: 导出CSV

    表  4  轨迹理论点和实际点位置绝对误差 mm

    位置绝对误差ACSSACSSASSA
    最大值9.13618 × 10−40.011336.82737 × 102
    最小值1.00291 × 10−51.00077 × 10−547.47253
    平均值4.11963 × 10−52.71322 × 10−43.60283 × 102
    标准差1.47025 × 10−41.66532 × 10−31.38841 × 102
    下载: 导出CSV
  • [1] 姜宏超, 刘士荣, 张波涛. 六自由度模块化机械臂的逆运动学分析[J]. 浙江大学学报(工学版), 2010, 44(7): 1348-1354. doi: 10.3785/j.issn.1008-973X.2010.07.021

    JIANG H C, LIU S R, ZHANG B T. Inverse kinematics analysis for 6 degree-of-freedom modular manipulator[J]. Journal of Zhejiang University (Engineering Science), 2010, 44(7): 1348-1354. (in Chinese) doi: 10.3785/j.issn.1008-973X.2010.07.021
    [2] 王文杰, 陶庆, 王晓华, 等. 旋量理论和消元法在类达芬奇手术机器人逆运动学求解中的应用[J]. 机械科学与技术, 2021, 40(5): 734-740.

    WANG W J, TAO Q, WANG X H, et al. Application of screw theory and elimination method in inverse kinematics of Da Vinci-like surgical robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2021, 40(5): 734-740. (in Chinese)
    [3] 于权伟, 李光, 肖帆, 等. 基于分离-重构技术的6R机器人逆解新方法[J]. 湖南工业大学学报, 2021, 35(2): 38-45.

    YU Q W, LI G, XIAO F, et al. A new method of inverse kinematics of 6R robots based on separation-reconstruction technique[J]. Journal of Hunan University of Technology, 2021, 35(2): 38-45. (in Chinese)
    [4] 石建平. 基于群智能优化算法的冗余机械臂运动学逆解研究[D]. 南昌: 南昌大学, 2020

    SHI J P. Research on inverse kinematics of redundant manipulator based on swarm intelligence optimization algorithm[D]. Nanchang: Nanchang University, 2020. (in Chinese)
    [5] MOHAMED A M, ARSHAD S A, ALAA H. A survey of multiple types of text summarization based on swarm intelligence optimization algorithms[J]. Knowledge-Based Systems, 2019, 163: 518-532. doi: 10.1016/j.knosys.2018.09.008
    [6] 张熙峰, 田景文. 基于遗传算法的机械臂逆运动学问题解决方案[J]. 计算机工程与应用, 2017, 53(22): 150-156. doi: 10.3778/j.issn.1002-8331.1607-0007

    ZHANG X F, TIAN J W. Solution based on genetic algorithm for inverse problem of manipulator kinematics[J]. Computer Engineering and Applications, 2017, 53(22): 150-156. (in Chinese) doi: 10.3778/j.issn.1002-8331.1607-0007
    [7] 武明虎, 周喜悦, 庆毅辉, 等. 基于改进自适应粒子群算法的机器人逆解研究[J]. 组合机床与自动化加工技术, 2021(1): 1-4.

    WU M H, ZHOU X Y, QING Y H, et al. Research on robot inverse kinematics based on improved adaptive particle swarm algorithm[J]. Modular Machine Tool & Automatic Manufacturing Technique, 2021(1): 1-4. (in Chinese)
    [8] 周枫林, 游雨龙, 李光. 空间3R机械臂逆向运动学的奇异轨迹线方法研究[J]. 机械科学与技术, 2019, 38(3): 365-372.

    ZHOU F L, YOU Y L, LI G. A solving method for inverse kinematics of space 3R manipulator based on singular trajectory theory[J]. Mechanical Science and Technology for Aerospace Engineering, 2019, 38(3): 365-372. (in Chinese)
    [9] 石建平. 基于粒子群优化算法的冗余机械臂运动学逆解[J]. 贵阳学院学报(自然科学版), 2020, 15(3): 48-52.

    SHI J P. Inverse kinematics solution of redundant manipulator based on particle swarm optimization algorithm[J]. Journal of Guiyang University (Natural Sciences), 2020, 15(3): 48-52. (in Chinese)
    [10] 李梅红. 动态变步长果蝇算法求冗余机械臂逆运动学解[J]. 机械设计与研究, 2019, 35(3): 50-53.

    LI M H. Dynamic changing step fruit fly optimization algorithm for solving inverse kinematics problem of redundant manipulator[J]. Machine Design and Research, 2019, 35(3): 50-53. (in Chinese)
    [11] 曹鹏飞, 甘亚辉, 戴先中, 等. 物理受限冗余机械臂逆运动学凸优化求解[J]. 机器人, 2016, 38(3): 257-264.

    CAO P F, GAN Y H, DAI X Z, et al. Convex optimization solution for inverse kinematics of a physically constrained redundant manipulator[J]. Robot, 2016, 38(3): 257-264. (in Chinese)
    [12] 肖帆. 复杂多关节工业机器人逆解算法研究[D]. 株洲: 湖南工业大学, 2020

    XIAO F. Research on inverse kinematic algorithm of industrial robot with complex multiple joint[D]. Zhuzhou: Hunan University of Technology, 2020. (in Chinese)
    [13] XUE J K, SHEN B. A novel swarm intelligence optimization approach: sparrow search algorithm[J]. Systems Science & Control Engineering, 2020, 8(1): 22-34.
    [14] 吕鑫, 慕晓冬, 张钧, 等. 混沌麻雀搜索优化算法[J]. 北京航空航天大学学报, 2021, 47(8): 1712-1720. doi: 10.13700/j.bh.1001-5965.2020.0298

    LYU X, MU X D, ZHANG J, et al. Chaos sparrow search optimization algorithm[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(8): 1712-1720. (in Chinese) doi: 10.13700/j.bh.1001-5965.2020.0298
    [15] 肖赤心. 高维优化进化算法及其应用研究[D]. 长沙: 中南大学, 2009

    XIAO C X. Research on evolutionary algorithms for high dimensional optimization and their applications[D]. Changsha: Central South University, 2009. (in Chinese)
    [16] 毛清华, 张强. 融合柯西变异和反向学习的改进麻雀算法[J]. 计算机科学与探索, 2021, 15(6): 1155-1164. doi: 10.3778/j.issn.1673-9418.2010032

    MAO Q H, ZHANG Q. Improved sparrow algorithm combining Cauchy mutation and opposition-based learning[J]. Journal of Frontiers of Computer Science and Technology, 2021, 15(6): 1155-1164. (in Chinese) doi: 10.3778/j.issn.1673-9418.2010032
    [17] 肖帆, 李光, 游雨龙. 空间3R机械手逆向运动学的多模块神经网络求解[J]. 中国机械工程, 2019, 30(10): 1233-1238. doi: 10.3969/j.issn.1004-132X.2019.10.014

    XIAO F, LI G, YOU Y L. Multiple module neural network solving for inverse kinematics of space 3R manipulators[J]. China Mechanical Engineering, 2019, 30(10): 1233-1238. (in Chinese) doi: 10.3969/j.issn.1004-132X.2019.10.014
    [18] 林阳, 赵欢, 丁汉. 基于多种群遗传算法的一般机器人逆运动学求解[J]. 机械工程学报, 2017, 53(3): 1-8. doi: 10.3901/JME.2017.03.001

    LIN Y, ZHAO H, DING H. Solution of inverse kinematics for general robot manipulators based on multiple population genetic algorithm[J]. Journal of Mechanical Engineering, 2017, 53(3): 1-8. (in Chinese) doi: 10.3901/JME.2017.03.001
    [19] 肖帆, 李光, 杨加超, 等. 改进CMA-ES算法及其在7自由度仿人臂逆运动学求解中的应用[J]. 机械科学与技术, 2020, 39(6): 844-851.

    XIAO F, LI G, YANG J C, et al. Applying improved CMA-ES algorithm to solve inverse kinematics of 7-DOF humanoid arm[J]. Mechanical Science and Technology for Aerospace Engineering, 2020, 39(6): 844-851. (in Chinese)
  • 加载中
图(7) / 表(4)
计量
  • 文章访问数:  167
  • HTML全文浏览量:  68
  • PDF下载量:  23
  • 被引次数: 0
出版历程
  • 收稿日期:  2021-05-27
  • 网络出版日期:  2023-05-29
  • 刊出日期:  2023-05-25

目录

    /

    返回文章
    返回