Research on Inverse Kinematics of Redundant Robotic Arms Based on Flexibility Index

Abstract

This letter proposes an Improved Quantum Particle Swarm Optimization algorithm based on Directional Maneuverability constrained by Isotropic Indexes (DMII-IQPSO). It can solve the problems of large inverse kinematics solution errors and the inability to solve singular configurations of 7-Degree of Freedom (DOF) redundant robotic arm. Firstly, we propose a new sports performance metric —— Directional Maneuverability constrained by Isotropic Indexes (DMII). Introduce isotropic indicators to avoid singular configurations of the robotic arm. By combining the target attitude error function, a new objective function is obtained, and a robotic arm inverse kinematics mathematical model based on the combination of attitude error and DMII is constructed. Secondly, an improved QPSO algorithm was proposed. Introducing a three-segment and tangential piecewise Logistic chaotic maps can solve the problem of low accuracy in solving QPSO. The introduction of adaptive mutation criteria and improved particle position update mechanism has solved the problem of large inverse kinematics solution errors. Finally, the simulation experiment showed significant improvement in DMII-IQPSO. The search accuracy and search ability of the DMII-IQPSO algorithm have been greatly improved, and local optima can be avoided. The results show that the actual position reached by the robotic arm during operation matches the target point well.