| 一种用于机械手控制的遗传算法 |
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| 引用本文： | 李明林,陈乐生.一种用于机械手控制的遗传算法[J].福州大学学报(自然科学版),2003,31(3):308-312. |
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| 作者姓名： | 李明林 陈乐生 |
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| 作者单位： | 福州大学机械工程系,福建,福州,350002 |
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| 摘 要： | 提出一种改进的遗传算法用于求解机械手运动学逆问题 .该算法采用实数编码 ,其交叉概率和变异概率根据解的适应度函数值自适应调整 .计算机仿真结果显示 ,该算法较简单遗传算法 (SGA)求解精度高 ,收敛速度快且稳定性能好 .
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| 关 键 词： | 遗传算法 机器人 逆运动学 自适应 |
| 文章编号： | 1000-2243(2003)03-0308-05 |
| 修稿时间： | 2002年11月20 |
A genetic algorithm applying to robot manipulator control |
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| LI Ming-lin,CHEN Le-sheng.A genetic algorithm applying to robot manipulator control[J].Journal of Fuzhou University(Natural Science Edition),2003,31(3):308-312. |
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| Authors: | LI Ming-lin CHEN Le-sheng |
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| Institution: | (Department of Mechanical Engineering , Fuzhou University, Fuzhou, Fujian 350002, China) |
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| Abstract: | An improved genetic algorithm was presented to solve the inverse kinematics of robot manipulator. In the improved genetic algorithm, gene was coded with float; the crossover probability and the mutation probability was adapted according as the fitness values of the solutions. Simulation showed that the proposed method solved the inverse kinematics more precisely, more quickly and more stably than the simple genetic algorithm. |
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| Keywords: | genetic algorithm robot inverse kinematics self-adaptive |
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