关键词: 机械臂, 关节, 自由度

Abstract: Link bar coordinate systems are established based on axis direction of joint axis; coordinate system transformation matrix is derived according to Denavit-Hartenberg（D-H） notation. Forward kinematics model is set up in the light of coordinate system transformation matrix. Inverse kinematics model is set up based on forward kinematics model at last. The forward kinematics model is a nonlinear constraint optimization problem. For the purpose of sloving inverse kinematics model, new differential evolution algorithm is proposed based on the idea of multi-population and multi-mutation strategy. Multi-population strategy improves the ability of information sharing by individuals, and multi-mutation method promotes the diversity of individuals, and the numerical results indicate that the new algorithm can solve inverse kinematics model efficiently.

Key words: robot arm, joint, degree of freedom