Solving PUMA robot inverse kinematics based on simulated annealing particle swarm optimization

摘要

With the increase of joint number,inverse kinematics analysis of robot becomes more complex.So to establish a com-mon analytic algorithm of inverse kinematics is very difficult.Using simulated annealing particle swarm optimization algorithm to get the solution of the robot joint variables directly from the equations of kinematics is proposed.The method to establish objective function and algorithm steps is discussed in this paper.Experimental results demonstrate the accuracy of the proposed algo-rithm both in position and attitude.