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Research on the inverse kinematics of manipulator using an improved self-adaptive mutation differential evolution algorithm

文献类型：期刊论文

作者Zhang, Qianqian1,2; Wang, Daqing1; Gao, Lifu1
刊名INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
出版日期2021-05-01
卷号18
关键词DE IK adaptive mutation operator adaptive scaling factor orienting weighting factor
ISSN号1729-8814
DOI10.1177/17298814211014413
通讯作者Wang, Daqing(dqwang@mail.ustc.edu.cn)
英文摘要To assess the inverse kinematics (IK) of multiple degree-of-freedom (DOF) serial manipulators, this article proposes a method for solving the IK of manipulators using an improved self-adaptive mutation differential evolution (DE) algorithm. First, based on the self-adaptive DE algorithm, a new adaptive mutation operator and adaptive scaling factor are proposed to change the control parameters and differential strategy of the DE algorithm. Then, an error-related weight coefficient of the objective function is proposed to balance the weight of the position error and orientation error in the objective function. Finally, the proposed method is verified by the benchmark function, the 6-DOF and 7-DOF serial manipulator model. Experimental results show that the improvement of the algorithm and improved objective function can significantly improve the accuracy of the IK. For the specified points and random points in the feasible region, the proportion of accuracy meeting the specified requirements is increased by 22.5% and 28.7%, respectively.
WOS关键词OPTIMIZATION
资助项目Strategic Priority Research Program of the Chinese Academy of Sciences[XDA22040303] ; 13th five year plan of Hefei Institute of Physical Sciences, Chinese Academy of Sciences[KP-2019-14] ; Anhui Natural Science Foundation of China[1808085QF214]
WOS研究方向Robotics
语种英语
WOS记录号WOS:000755998800001
出版者SAGE PUBLICATIONS INC
资助机构Strategic Priority Research Program of the Chinese Academy of Sciences ; 13th five year plan of Hefei Institute of Physical Sciences, Chinese Academy of Sciences ; Anhui Natural Science Foundation of China
源URL[http://ir.hfcas.ac.cn:8080/handle/334002/127621]  
专题中国科学院合肥物质科学研究院
通讯作者Wang, Daqing
作者单位1.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Intelligent Machines, 350 Shushanhu Rd, Hefei 230031, Anhui, Peoples R China
2.Univ Sci & Technol China, Dept Sci Isl, Hefei, Peoples R China
推荐引用方式
GB/T 7714		 Zhang, Qianqian,Wang, Daqing,Gao, Lifu. Research on the inverse kinematics of manipulator using an improved self-adaptive mutation differential evolution algorithm[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2021,18.
APA Zhang, Qianqian,Wang, Daqing,&Gao, Lifu.(2021).Research on the inverse kinematics of manipulator using an improved self-adaptive mutation differential evolution algorithm.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,18.
MLA Zhang, Qianqian,et al."Research on the inverse kinematics of manipulator using an improved self-adaptive mutation differential evolution algorithm".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 18(2021).

入库方式： OAI收割

来源：合肥物质科学研究院

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