Inverse Solution of Manipulator Based on Improved Marine Predators Algorithm
In order to solve the inverse kinematics of redundant manipulators with difficulty and low accu-racy,based on the existing marine predators algorithm(MPA),the Tent mapping initialization strategy,elite Reverse learning strategy,and adaptive t distribution mutation mechanism are introduced,and an im-proved marine predator algorithm(IMPA)is proposed and applied to solve the inverse kinematics of re-dundant manipulators.The test results of four typical test functions indicate that IMPA has better solving ac-curacy and computational stability than MPA and another improved MPA;The example results of redundant robotic arm inverse solution show that IMPA has faster solving speed,better solving accuracy and stability,improved robotic arm pose accuracy,and reduced pose error,which has certain advantages.
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维普
