A kinematics model is established by D-H method,and the forward kinematics solution is obtained through the transformation of coordinate system.The validity of artificial bee colony algorithm for kinematics solution of 7DOF manipulator is discussed.The inverse kinematics of the redundant manipulator is solved by using the artificial bee colony algorithm,and the optimal solution is found by constructing the objective function of position error and solution time.The minimum position error and solution time are taken as the objectives to make the manipulator run to the specified position and compare the calculation results with the particle swarm algorithm.The Matlab simulation experiment shows that the position error calculated by the artificial bee colony algorithm is stable at 10-4 mm,and the search accuracy,convergence accuracy and speed of the artificial bee colony algorithm are better than particle swarm algorithm,and the stability and robustness of the algorithm are more suitable for the inverse kinematics solution of redundant manipulator.
维普
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