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摘要
Robot inverse kinematics analysis is the basis of many researches, but the process of multi- degree-of-freedom robot with a general structure inverse kinematics is complicated，and the analytical method may have no solution. Combining the improved fitness function of intelligent algorithm with the analytical method，a method for solving the inverse kinematics of multi-degree-of-freedom robot with a general structure was proposed, which improved the efficiency and accuracy of multi-DOF inverse kinematics analysis. The general structure satisfied at least one set of adjacent joint axes intersect at one point. Using the method of disconnection and reconnection to construct the fitness function of disconnection and reconstruction，and intelligent algorithm was used to verify the fitness function of disconnection and reconstruction and solve some joint angles, and then the analytical method was combined to find the other joint angles. Compared with the fitness function constructed by other methods, this method simplified the process of establishing the fitness function and reduced the algebraic dimensionality of the fitness function. Taking the FANUC CRX - 10iA collaborative robot as an example and using the improved CMA - ES algorithm to verify the fitness function of disconnection and reconstruction, the simulation results showed that in the solution of point-to-point inverse kinematics under the same conditions, the single average solution time was 0. 004 0 s, the fitness function value was stable at the order of 10-6，and the iteration convergence times was stable at about 25 times. In order to verify the effectiveness of this method in environments with different levels of complexity，continuous trajectory tracking was performed in two-dimensional and three-dimensional spaces, the average time for a single time was 0. 006 8 s and 0. 010 2 s，respectively，the position error was stable at the level of 10-7m，and the motion curve of each joint was smooth. Taking REBot - Y - 6R robot of six-DOF as the experimental object, the MFC experimental platform was created based on YC + +6.0, and continuous space trajectory tracking experiments were carried out. Simulation and experimental results verified the effectiveness of the method.
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