INVERSE KINEMATICS SOLUTION OF CLEANING MOBILE MANIPULATOR BASED ON IMPROVED GENETIC ALGORITHM

Li Cuiming; Ren Kezhou; Gong Jun

doi:10.19912/j.0254-0096.tynxb.2020-1273

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Acta Energiae Solaris Sinica ›› 2022, Vol. 43 ›› Issue (7) : 180-185. DOI: 10.19912/j.0254-0096.tynxb.2020-1273

INVERSE KINEMATICS SOLUTION OF CLEANING MOBILE MANIPULATOR BASED ON IMPROVED GENETIC ALGORITHM

Li Cuiming, Ren Kezhou, Gong Jun

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Abstract

The research object is the vehicle-mounted cleaning mobile robot arm for cleaning the surface of the heliostat in the tower solar thermal power station,establish a kinematic model and analyze its inverse solution set. The genetic algorithm is used to solve the inverse solution of the on-board cleaning mobile manipulator, when solving multi-solution problems, use the principle of "moving more small joints and less large joints" to constrain, and find the optimal solution, it provides a basis for the trajectory planning of the robotic arm. Experiments show that the algorithm used in this article can obtain a feasible optimal solution, and minimize the movement of the first joint, can improve the control of the cleaning robot arm, and meet the actual cleaning requirements.

Key words

tower solar thermal power / manipulators / static analysis / inverse kinematics / genetic algorithm / cleaning work

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Li Cuiming, Ren Kezhou, Gong Jun. INVERSE KINEMATICS SOLUTION OF CLEANING MOBILE MANIPULATOR BASED ON IMPROVED GENETIC ALGORITHM[J]. Acta Energiae Solaris Sinica. 2022, 43(7): 180-185 https://doi.org/10.19912/j.0254-0096.tynxb.2020-1273

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