Computer Engineering and Applications ›› 2013, Vol. 49 ›› Issue (17): 266-270.

Manipulation method for manipulator with improved adaptive multiple population differential evolution

LIAO Feng

1. College of Mathematic Science and Application, Nanjing Normal University Taizhou College, Taizhou, Jiangsu 225300, China
• Online:2013-09-01 Published:2013-09-13

改进的自适应多种群DE的机械臂控制方法

1. 南京师范大学泰州学院 数学科学与应用学院，江苏 泰州 225300

Abstract: The link bar coordinate systems is established based on axis direction of joint axis. The coordinate system transformation matrix is derived according to Denavit-Hartenberg （D-H） notation, the forward kinematics model in the light of coordinate system transformation matrix is set up, the inverse kinematics model is set up based on forward kinematics model, the inverse kinematics model is multiple object optimization problem, the optimal solution of inverse kinematics model has the characteristic of high accuracy and minimizes the rotation extent. For the purpose of solving inverse kinematics model, the adaptive mutation multiple population differential evolution algorithm is proposed, multi-population strategy improves the ability of information sharing by individuals, and adaptive mutation method can promote the diversity of individuals, and the numerical results indicate that the new algorithm can solve inverse kinematics model efficiently.