水下机械手运动学逆解的一种优化解法

本文给出一种运用约束最优化的变尺度法求解Schilling水下机械手运动学逆解的方法。这种方法不仅具有牛顿方法的快速性和理想的总体收敛性,通过迭代求取H阵,不仔在奇异性问题,运用惩罚函数法选取步长,保证了从任意点进行搜索,同时有效地处理了约束的存在。这种方法较其它优化算法和搜索法有明显的快速性,在PⅡ550微机上的求解实验证明此算法完全可以用在此机械手运动学的实时求解中。

In this paper, a method in which an optimal numerical algorithm is applied is brought forward to realize the effectively and fast in-verse solution of the Schilling underwater manipulator kinematics. This optimal algorithm is based on Constrained Variable Metric (CVM) . Com-pared with other methods, this approach has the rapid convergence of NEWTON' s method and overall convergence. The H matrix is developed via a repeal method and the length of every step is defined effectively from a P funclion. fn the end, the experiment carried out on a PII 550 PC proves that this algorithm can foe used in the real- time inverse solution of the manipulator kinematics.