A Multi-objective Optimization Method for Solving the Analytical Inverse Kinematics of Redundant Manipulator
In order to realize the intelligent motion control of multi-DOF(degree of freedom)boom of construction machinery,combined with the parametric joint method and MOEA/D(Multi-objective evolutionary algorithm based on decomposition),an IM-IK algorithm(Improved MOEA/D-inverse kinematics)is proposed to solve the inverse kinematics problem of redundant manipulator in this paper.The algorithm adds an adaptive interval search strategy to the MOEA/D algorithm framework to improve the local search ability and solution speed of the algorithm.IM-IK algorithm is applied to an 8-DOF redundant manipulator,and compared with NSGA-II(Nondominated sorting genetic algorithm II),MOEA/D and T-IK algorithms.All test indexes prove that IM-IK algorithm has better comprehensive performance than other algorithms in dealing with the inverse kinematics of redundant manipulator,and can meet the position and orientation accuracy requirements of manipulator's end effector,it can also ensure the joints motion continuity of the manipulator and effectively avoids the joints limit.
国家科技期刊平台
NSTL
万方数据
