Study On Adaptive Genetic Algorithms Based On Simulated Annealing For The Inverse Kinematics Of The Manipulator

The basal problem for control manipulator is the inverse kinematics of manipulator which purpose is to transformed position and posture of the end actuator into joint variables in workspace. By the inverse kinematics of manipulator, we can control the position and orientation of the end actuator in workspace, and it also plays a very important role in motion analysis, off-line programming, trajectory planning. There are a lot of traditional methods for seeking the inverse kinematics of manipulator, but have many deficiencies, such as difficult solution, singularity, multiple solutions. Therefore, seeking a universal algorithm will be benefit for the development of the robot technology,such as trajectory planning, position control and off-line programming.This paper developed the experimental equipment with hybrid-driven mechanism that is driven by constant speed motor and servomotor. Inputs from a uniform constant speed motor and a programmable motion servomotor would be summed in a mechanism with multiple degrees of freedoms, we can get an prospective output of the linkage. This mechanism makes up the disadvantage of a conventional hard without any flexibility; meanwhile it also reduces the cost because many applications don't require much more flexibility. This mechanism can deal with contradictions between the programmable flexibility and the high speed, high precision, high load. And for experimental equipment that can meet designing, comprehensive and innovative experiment project have increased.This paper established the numerical optimization model of manipulator inverse kinematics. And made a systematically and deep analysis in the adaptive genetic algorithms based on simulated annealing for the inverse kinematics of the manipulator. Combined the global search ability of genetic algorithm with the local search ability of simulated annealing, this paper presented adopt GSA to calculate the inverse kinematics of the manipulator. The perfect and robust control parameters have been presented after the many simulations. The simulations showed that the algorithm is characterized by high precision, quick convergence and stable property. Secondly, Study through the paper, the control system of two degrees of freedoms hybrid-driven mechanism has been developed. The hardware platform of this system is a high quality PC and motion control card MPC07, PanasonicMSMDT1205 stepper motors, stepper motor drives. The system software is base on windows operating system, adopt Visual C++ 6.0 and object-oriented, modular programming approach to complete the program of dynamic simulate, real time control, parametric design, and man-machine conversation interface. Through experiment, it is satisfied by run stably, is convenient to be maintained and interface is friendly and intuitional.