一种基于微分进化的采摘机器人运动反解方法

针对传统的采摘机器人运动反解求法的求解过程过于繁琐及自适应性等不足,提出了一种基于微分进化的采摘机器人运动反解求取方法。该方法首先利用采摘机器人运动正解方程构造出求解采摘机器人运动反解的目标函数,然后运用微分进化算法的泛化性和自适应性对该目标函数进行优化处理,从而求解出采摘机器人运动反解。同时,为了分析该方法的性能,还分别对传统的采摘机器人运动反解和基于微分进化的采摘机器人运动反解进行了对比试验,从而验证了该方法的有效性和鲁棒性。

A Picking Robot Kinematic Inverse Solution Method Based on Differential Evolution

According to the cumbersome and adaptive deficiencies of the picking robot kinematic inverse solution process , a picking robot kinematic inverse solution seeking method was presented based on the differential evolution algorithm . This method first utilizes picking robot motion positive equation to construct the objective function for solving picking robot motion inverse solution , and then uses the generalization and self-adaptive of the differential evolution algorithm to opti-mize the objective function , thus the picking robot kinematic inverse solution was solved .And in order to analyze the per-formance of this methodology , the traditional picking robot kinematic inverse solution and the picking robot kinematic in-verse solution based on the differential evolution algorithm were also respectively tested , which verified the effectiveness and robustness of the method in this paper .