Inverse kinematics solving method and device for service robot in intelligent space

Abstract

The invention discloses an inverse kinematics solving method and device for a service robot in a smart space. The method includes the following steps that: the forward kinematics model of the robot isestablished by using a D-H parameter method; real number coding is performed on the joint variables of the robot; an adaptive function is constructed with difference between a current pose and a target pose adopted as an optimization objective; and a genetic algorithm is used to perform optimization solution on the joint variables, so that the optimal solution of the inverse kinematics problem isobtained. The method of the invention does not need to be limited to robot configurations, and a plurality of populations are introduced, so that parallel optimization search can be realized, and therefore, the method can cope with the increase of the degree of freedom of the robot; the real number coding is adopted for the individuals, and mapping errors occurring during continuous function discretization when binary coding is adopted can be avoided; and on the basis of the real number coding, crossover operation adopts a linear crossover mode, mutation operation adopts a random mutation mode, and adaptive crossover and mutation probabilities are introduced, and therefore, a better solution can be effectively protected in the later stage of evolution, and convergence speed and precisioncan be guaranteed.

Description

technical field [0001] The invention belongs to the field of robot intelligent control, in particular to a method and device for solving inverse kinematics of a service robot in an intelligent space. Background technique [0002] With the development and progress of society, especially in the context of the increasingly prominent problem of population aging, it has become a development trend for robots to enter the home environment and provide services for humans in daily life. However, for common household services such as serving tea and pouring water and cleaning, it is necessary to accurately control the pose of the robot to operate the objects, so the inverse kinematics solution for robots has gradually become a research hotspot in this field. In order to meet the service needs of human users in the home environment, relying on intelligent space technology, the service robot system is driven to provide targeted services by sensing scene information and user demand infor...

AI Technical Summary

Problems solved by technology

However, the traditional genetic algorithm uses a single population to search the search space, which cannot adapt to the increase of the robot's degree of freedom, and is easy to fall into local convergence; the individuals in the traditional genetic algorithm use binary coding, and there is a mapping error when the continuous function is discretized; due to the use of The fixed probability of crossover and mutation cannot effectively protect the better solution in the later stage of evolution, resulting in slower convergence speed, which cannot meet the requirements of the control system

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