关键词: 改进人工鱼群算法, 冗余机器人, 逆运动学, 正态分布衰减, 船舶喷涂

Abstract: In order to solve the inverse kinematics problems of a redundant robotic spraying system for ship segments, the modified DH method was used to establish the kinematics model of the robotic systems. An optimization model for inverse kinematics of redundant robots was established to minimize position errors, posture errors and joint travels, and an IAFSA was proposed to solve the model. The dynamic adjustment strategy of visual ranges and step size based on normal distribution was introduced to enhance the precision of the solutions and reduce the computation time, improving the overall performance of the algorithm. Compared with artificial fish swarm algorithm and hybrid IAFSA, the experimental results show that IAFSA possesses stronger search ability, faster convergence speed and relatively less computation time. The high accuracy of the solutions and good stability of the errors were verified in the SolidWorks Motion simulations, which demonstrates the effectiveness of IAFSA in solving the inverse kinematics problems of redundant robots.

Key words: improved artificial fish swarm algorithm(IAFSA), redundant robot, inverse kinematics, normal distribution attenuation, ship spraying