| 基于改进遗传算法的六自由度并联机器人位置正解研究 |
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| 引用本文： | 贺利乐,刘宏昭,王朋,段志善. 基于改进遗传算法的六自由度并联机器人位置正解研究[J]. 应用科学学报, 2005, 23(5): 522-525 |
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| 作者姓名： | 贺利乐 刘宏昭 王朋 段志善 |
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| 作者单位： | 1. 西安理工大学机仪学院, 陕西西安 710048;2. 西安建筑科技大学机电学院, 陕西西安 710055 |
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| 摘 要： | 将并联机器人运动学位置正解转化为求解一组多元非线性方程的优化问题,提出了改进遗传算法进行优化求解,依靠计算灰色关联度对求解结果进行分组的方法,并通过实例计算得到了3-6结构6自由度Stewart平台并联机器人的7组实解.研究结果表明该方法简单方便,求解精度高且具有通用性.
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| 关 键 词： | 运动学正解 并联机器人 改进遗传算法 |
| 文章编号： | 0255-8297（2005）05-0522-04 |
| 收稿时间： | 2004-06-06 |
| 修稿时间： | 2004-06-062005-01-10 |
Forward Kinematics Based on Improved Genetic Algorithms of 6-DOF Parallel Robot |
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| HE Li-le,LIU Hong-zhao,WANG Peng,DUAN Zhi-shan. Forward Kinematics Based on Improved Genetic Algorithms of 6-DOF Parallel Robot[J]. Journal of Applied Sciences, 2005, 23(5): 522-525 |
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| Authors: | HE Li-le LIU Hong-zhao WANG Peng DUAN Zhi-shan |
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| Affiliation: | 1. School of Mechinery and Precision Instrument Engineering, Xi'an University of Science and Technology, Xi'an 710048, China;2. School of Mechinery and Electrical Engineering, Xi'an University of Architecture and Technology, Xi'an 710055, China |
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| Abstract: | The problem of forward kinematics is treated as optimization of multi-variable nonlinear equation group in this paper. Improved genetic algorithms are used to obtain optimum values, and a new grouping method is presented based on gray relative analysis. Seven groups of real values of the 6-DOF Stewart parallel platform are provided as examples. It is proved that the proposed method is simple, effective and useful in solving forward kinematics problems for parallel robots. |
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| Keywords: | improved genetic algorithms forward kinematics parallel robot |
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