关键词: PUMA机器人, 逆运动学, 模拟退火粒子群优化, 目标函数

Abstract: With the increase of joint number，inverse kinematics analysis of robot becomes more complex.So to establish a common analytic algorithm of inverse kinematics is very difficult.Using simulated annealing particle swarm optimization algorithm to get the solution of the robot joint variables directly from the equations of kinematics is proposed.The method to establish objective function and algorithm steps is discussed in this paper.Experimental results demonstrate the accuracy of the proposed algorithm both in position and attitude.

Key words: PUMA robot, inverse kinematics, simulated annealing particle swarm optimization, objective function