关键词: 机械臂, 关节, 自由度, 旋转副

Abstract:

Firstly, the paper established the link bar coordinate system based on axis direction of manipulator joint. Secondly, according to DenavitHartenberg(DH)notation, the coordinate system transformation matrix was derived. Thirdly, the forward kinematics model was established based on the coordinate system transformation matrix. Finally, we set up the inverse kinematics model based on reversely solving the forward kinematics model. The inverse kinematics model is a kind of multiple object optimization problems, and the optimal solution of the inverse kinematics model has characteristics of high accuracy with minimized rotation extent, and the solution is continuous. For the sake of solving the inverse kinematics model, we proposed an improved multiple population differential evolution (IMPDE) algorithm, which can destroy the aggregation level of the population by choosing different mutation operation based on mutation probability so as to enhance the ability of global search. The numerical results show that the new algorithm can solve the inverse kinematics model efficiently.

Key words: manipulator;joint;degree of freedom;rotation extent