Efficient Inverse Kinematics Optimization Solution Method of Smooth Configuration for Hyper-redundant Robot

摘要

In order to improve the solution efficiency and smoothness of inverse kinematics for the hyper-redundant robot, an efficient inverse kinematics optimization solution method is proposed. Firstly, a hyper-redundant robot and its forward kinematics are introduced. Secondly, an efficient inverse kinematics optimization solution, pseudo inverse particle swarm optimization (PI-PSO), is proposed. Finally, experiments are carried out on a 20 degrees of freedom (20 DOF) hyper-redundant robot. The results show that compared with the solution of traditional PSO algorithms, the joint displacement is reduced by more than 80%, and the solution accuracy is improved by more than 60% Compared with pseudo inverse algorithm, the calculating time of this method is reduced by more than 90%