Inverse Kinematics Solution of Robots Based on IQPSO Algorithm
Aiming at the problems of singular pose,non-unique solution and low solution preci-sion in the inverse kinematics solution processes of general robots,an improved quantum particle swarm optimization algorithm was proposed.Firstly,the robot kinematics model was established by using the D-H parameter method,and the minimum pose errors at the end of the manipulators were the main optimization goal,and the constraints of the minimum joint angle changes before and after the movement and the smooth and continuous stroke were added,and the objective function was de-signed.Secondly,an IQPSO algorithm was designed by using the Levy flight strategy to improve the particle update method,nonlinear dynamic adjust the shrinkage and expansion factors,and using the variable weight method to calculate the optimal average position.Then,the simulation and compari-son experiments of three algorithms(IQPSO,APSO,QPSO)were carried out by simulating two dif-ferent solutions of single point pose and continuous trajectory.The results show that the IQPSO algo-rithm has the advantages of fast convergence speed and high solution accuracy;finally,the IQPSO al-gorithm was used in the body of the robot arm for physical verification.The results show that the traj-ectory composed of interpolation points obtained by the IQPSO algorithm is continuous and smooth,which further proves the stability and feasibility of the algorithm in practical motion control.
万方数据
维普
