关键词: 冗余机械臂, 逆运动学, 粒子群算法, 自适应判别函数, 弹射

Abstract: The inverse kinematics problem of redundant manipulator can be conversed as equivalent minimization problem based on the positive kinematics equations, and the minimization problem can be solved using an self-adaptive particle swarm optimization algorithm（SAEPSO）. In order to keep the vitality of the particle swarm, the ejector operation is used in the algorithm. When the particle satisfies the self-adaptive discrimination function introduced in the algorithm, it will be ejected in probability to the faraway area from the current position. To cooperate with the ejector operation, a new method of judging the merits of particles is proposed, which makes the particle can be ejected out of the feasible region. It is revealed in numerical experiments that the algorithm possesses relatively strong global search ability and fast search speed, and is thus applicable to solve the inverse kinematics problem of redundant manipulator.

Key words: redundant manipulator, inverse kinematics, particle swarm optimization algorithm, self-adaptive discrimination function, ejector