Investigation On The Optimal Problems Of Inverse Kinematics For Series-Connected Robot With3-Joints

Robot is the key supporting equipment of advanced manufacturing industry,and it is also an important assistant to improve people's life style.Whether industrial robots are used in manufacturing or service robots in non-manufacturing environments,their technological level is one of the important symbols to measure a country's technological innovation ability and high-end manufacturing level.The key problem of this paper is the optimization of inverse kinematics of robots,which is one of the commonness and basic problems in the fields of robot trajectory planning,interactive operation,virtual reality and visual servo control.The main contents of this thesis are summarized as follows:Firstly,the research background and significance of this paper are expounded,and the main numerical calculation methods used to solve the inverse kinematics problems of robots are introduced.The application of derivative informatio n optimization method,artificial neural network method and heuristic optimization method in the inverse kinematics calculation of robots is emphasized.The problem of structural parameter modeling of serial robots is studied.On this basis,the position and attitude matrices of the robots in spatial coordinates and the rotation transformation matrices describing the motion relationship of the robots are obtained.Furthermore,the objective function of the inverse kinematics problem of n-joint tandem robots expressed by position and attitude errors is established.The application of heuristic optimization algorithm-electromagnetic-like mechanism algorithm in inverse kinematics of robots is studied.The basic theory of EM-like algorithm is introduced.The global searching ability and population parameter setting of EM-like algorithm are discussed preliminarily.On this basis,an improved parallel EM-like algorithm is proposed.Finally,a numerical example is used to test the search performance of the two algorithms.The relationship between robot kinematics and trajectory planning technology is expounded.According to the characteristics of trajectory planning for robots,a fast hybrid electromagnetic iterative method for inverse motion of computer robots is presented.This method can not only greatly improve the calculation accuracy of heuristic optimization method,but also be very suitable for solving robot trajectory planning problems.In the conclusion and outlook of the paper,the main research work and innovation points are summarized,and the direction and problems to be further studied in the relevant technical fields are put forward.