Inverse kinematics solution of demolition manipulator based on global mapping

摘要

In solving the inverse kinematics of the redundant hydraulic manipulator of the demolition robot, there are problems of multiple solutions and the contradiction between the real-time and accuracy of the calculation. A series calculation strategy combining global mapping and local search was proposed. Firstly, the inverse kinematics solution was mapped from the global space to the local space of the working point by the global neural network model, and then the inverse solution results were obtained by the local search of the gravitational search algorithm. To avoid the GSA falling into the local minima and improve the search speed and accuracy, an improved gravitational particle adaptive step search strategy was proposed to balance the exploration and development stage of the population. The simulation and experimental results show that the global than local inverse solution algorithm can avoid the multi-solution problems and ensure the stability and accuracy of the solution on the basis of real-time inversion.