关键词: 冗余机器人, 移动机械臂运动学, 遗传信赖域, 混合优化

Abstract:

To obtain optimized inverse kinematics solution for a class of redundant mobile manipulator (MM) quickly and accurately, an inverse kinematics method based on genetic trust region algorithm combined with analytical solution is proposed. Manipulator's inverse kinematics expressions expressed by mobile vehicle's movement parameters are derived. The flexibility principle to determine the objective function for trust region algorithm is introduced. Finally, the optimization problem of the objective function by genetic trust region algorithm to get the inverse kinematics solutions of mobile manipulator is solved. Simulations show that the method can quickly obtain precised and optimized inverse kinematics solutions.

Key words: redundant robot, kinematics of mobile manipulator, genetic trust region, hybrid optimization