基于遗传算法的机械臂逆运动学问题解决方案-计算机工程与应用.PDF

150 2017 ，53（22 ） Computer Engineering and Applications 计算机工程与应用 基于遗传算法的机械臂逆运动学问题解决方案 用 张熙峰，田景文 应 ZHANG Xifeng, TIAN Jingwen 与 北京联合大学 信息学院，北京 100101 程 School of Information, Beijing Union University, Beijing 100101, China g 工 r o ZHANG Xifeng, TIAN Jingwen. Solution based on genetic algorithm for inverse problem of manipulator kinematics. . j Computer Engineering and Applications, 2017, 53 （22 ）：150-156. 机 a 算 e Abstract ：In this paper, genetic algorithm is applied to the inverse problem of manipulator kinematics and the population c . is defined on the manipulator joints path level. The initialization operator, crossover operator and mutation operator of the 计 w algorithm are implemented by continuous function. The algorithm uses only the phenotype data presentation, which over- comes the conventional genetic algorithm frequently carrying out coding and decoding operations in the data between the w genotype and phenotype. With the conventional genetic algorithm carried on the contrast analysis, it is observed that the w proposed method can avoid the disadvantage of the conventional genetic algorithm having multiple switching points for solving the inverse kinematics problem, obtain a smoother joint angle trajectory, shorten the convergence time of the algo- rithm, and the Cartesian trajectory generated has higher accuracy. Key words ：genetic algorithm; industrial manipulator; inverse kinematic 摘 要：提出应用遗传算法求解机械臂的逆运动学问题，将种群定义于机械臂的关节角轨迹层面，利用连续性函数 实现算法的初始化算子，交叉算子和变异算子。算法仅使用表现型数