Inverse kinematics solution of manipulator based on PSO algorithm and BAS algorithm
Aiming at the high precision requirements of laser defocus in laser cladding industrial scenes,an intelligent combinatorial algorithm based on PSO(particle swarm optimization)and BAS(beetle antennae search)is proposed.The fitness formula of the combination algorithm is designed to minimize the target pose error.In the combinatorial algorithm,the mathematical model of the robotic arm is introduced,and the PSO algorithm is used to solve the preliminary solutions that meet the accuracy requirements,that is,the initial values of the six axis angles of the robotic arm.Then,using BAS algorithm,the fitness is decomposed into the position error and posture error to be explored based on the division search idea.At the same time,the improvement strategies of dynamic inertia adjustment and adaptive step length are made,and the set of solutions with the smallest combined fitness value is output and used as the optimal inverse solution of the manipulator.Compared with the separate PSO algorithm,BAS algorithm and improved differential evolution algorithm,the PSO-BAS combined algorithm has the advantages of fast convergence speed and high convergence accuracy in the kinematics inverse solution of the manipulator.
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