Inverse Kinematic Solution Of Robot Based On Cloud Model Genetic Ant Colony Algorithm And Its Application

Overhead Transmission Line is always exposed to gale,rainstorm and thunder;thus,ironware is easy to be eroded and Insulator Strings tend to be damaged.Therefore,periodical inspection is essential.Compared with inspection by workers,the robot which can stride cross obstacles(SCR)can reduce the labor cost;as for UAV,the robot can run further and has better expansibility in this platform.In this paper,we focus on this robot and explore the better method of crossing obstacles.Aiming at its low adaptability that is caused by present method and technique,we propose an algorithm that combines with genetic algorithm,ant colony optimization and cloud model to solve the inverse kinematics problem.Through this way,the robot can calculate the joints displacement and motors revolution according to the structure and size.Aiming at high code repetition rate,high coupling degree in the program and the dependence of initial posture,by using related techniques,the configuration of crossing steps can be much easier and the robot can perform with high adaptability.The main work and results of this paper are as follows.(1)Proposal of Genetic algorithm and any colony optimization based on cloud model.By using the strategy of mesh partition,these two algorithms are combined with each other,which can provide very good ability of the global optimization,and also can search for local minima/maximum very well.In addition,aiming at the problem of reduction of diversity in the population through the evolution,we adopt to change the fitness scale to avoid it.Also aiming at the problem of complexity of picking parameters about crossover and mutation,we exploit could model to make those adapt the algorithm automatically,which can also improve the performance of the algorithm to some extent.We also use a series of functions to test the algorithm’s performance and compare it with traditional genetic algorithm,genetic algorithm combined ant colony optimization and particle swarm optimization to demonstrate its advantage.(2)Proposal of robotic inverse kinematic model and its solution.Through the robot’s structure and coordinate transformation,we get the matrix that can describe the robot’s posture and position in the basic coordinate system.Also using the 1-norm to describe the distance between the matrix just mentioned and the ideal matrix.We regard this distance as the optimized function and adopt the proposed algorithm to find its minima.In addition,taking the SCR for examples,we get the error of the posture and position,which confirms the practicability and accuracy of the algorithm.The strategy of crossing obstacles and its technical practice.According to different types of the towers,we adopt different strategies.By using XML files and the idea of“interceptors stacks”,the configuration of crossing obstacles can be much easier and the steps of crossing obstacles and the joints displacement can be separated,which is conducive for the reduction of coupling degree.Based on the structures and related data of the towers,the joints displacement is mapped into corresponding motor’s revolution.Adopting data structure of motion control block to record the posture and position of the robot can delete the unnecessary distinguishing that the arm belongs to odd arm or even arm.