关键词: 机械臂, 逆运动学, 克隆选择算法, 协同进化, 多策略

Abstract: Aiming at the shortcoming of conventional methods on solving the inverse kinematics problem of redundant manipulators,an inverse kinematics solution of redundant manipulators based on improved clonal selection algorithm was obtained.A multi-strategy hybrid co-evolutionary mechanism combining bottom-level evolution and top-level evolution was adopted,which could make the algorithm had a strong ability to maintain population diversity.Therefore,the premature convergence problem of the algorithm was well avoided.The feasibility and effectiveness of the proposed algorithm were verified by classical benchmark functions.Experimental results showed that the proposed algorithm had the characteristic of fast convergence speed,high convergence precision,good stability and low computational cost.The inverse kinematic of a planar redundant manipulator was taken as an example to carry out comparative experiments,the simulation results indicated that the proposed algorithm had achieved a 100% success rate of inverse kinematics optimization,and it was an effective method for solving the inverse kinematics of redundant manipulators.

Key words: manipulator, inverse kinematics, clonal selection algorithm, co-evolution, multi-strategy