遗传算法解决多背包问题

文章运用遗传算法求解多背包问题，给出了具体的求解步骤：运用两种不同的方法采处理约束条件，并将遗传算法和贪心算法进行比较通过举例给出了设置参数的具体方法，并通过对搜索效率的分析，证明了遗传算法在解决多背包问题时是行之有效的算法只需搜索解空间中的很小一部分，就可搜索到很好的结果。     

6-DOF并联机器人工作空间边界分析与判定算法

6-DOF并联机器人的工作空间是控制过程研究的主要问题之一,所谓活动空间的边界分析,即指各液压缸活动过程中相互不能发生碰撞,如果碰撞发生,则该点即为边界点.对6-DOF并联机器人的机构和工作原理进行了介绍,给出了对于工作空间边界分析必要的位置算法,根据机构的特点与机器人的运动特性对6-DOF并联机器人的工作空间边界进行了细致的分析并给出了可操作的运动边界判定算法.实现了对液压缸碰撞的判定.     

机器人灵活工作空间的边界分析

机器人灵活工作空间的分析是机器人运动学至今没有解决的一个问题.由于机器人在灵活工作空间中工作不会受到本身机构对它的限制.所以,机器人灵活工作空间的大小对于提高机器人的操作性能就显得格外重要.本文旨在解决机器人灵活工作空间边界的计算问题.首先.它分析了灵活工作空间边界的性质;其次,用一种新的方法——网络跟踪法确定了灵活工作空间在横截面内的边界;最后.提出了灵活工作空间端边界的求解方法.     

求解二层规划的混合微粒群算法

对于二层规划问题有许多经典的求解方法，如极点搜索法、分支定界法和罚函数法等。文中给出了基于微粒群算法的二层规划的一种新的求解方法。提出了分别先用单纯形法和内部映射牛顿法的子空间置信域法求解下层规划，然后用微粒群算法求解上层规划的求解方法，这两种混合微粒群算法分别用于求解线性二层规划和非线性二层规划。并结合实例的对比分析，说明了这两种混合微粒群算法求解二层规划的可行性和有效性。     

基于边界搜索法的一种四自由度并联机器人工作空间分析

本文设计了一种新型四自由度并联机构,以动平台中心点为参考点进行了运动学逆解分析,采用边界搜索法分析并联机构定姿态时的工作空间,获得工作空间的三维图形.研究该并联机构的支链长度、动静平台半径和运动副转角等结构参数和运动参数对其工作空间大小的影响,为机构的参数优化提供理论依据.     

基于改进差分进化算法求解连续矩阵问题

矩阵分析在控制中可以对系统的稳定性和控制观测性能进行改善。传统的约旦递推法和Kronocker积算法是基于大量的数值分析、矩阵转换的基础上进行的,过程繁冗,求解效率低;在工具箱求解的基础上提出改进的差分进化算法,并加入边界约束对典型的若干连续矩阵求解,启发式的特点引导搜索的智能进行同时对违约变量进行处理,简化了求解过程,提高了求解精度。通过对矩阵方程的仿真结果对比,证明了该智能算法为矩阵状态参数估计提供了新的解决途径。     

状态空间的启发式搜索方法研究

对人工智能中用于状态空间问题求解的启发式搜索方法－A算法和A^*算法进行了详细分析，并指出了影响搜索算法启发能力的主要因素和提高搜索效率的措施。     

斐波那契树优化算法求解多峰函数全局最优解的可达性分析

为分析和验证斐波那契树优化算法（Fibonacci tree optimization algorithm,FTO）求解多峰函数全局最优解的算法性能,对算法的可达性问题进行研究.本文基于斐波那契法构造一个斐波那契树结构,在搜索空间中进行全局、局部交替搜索,不易陷入局部最优解.对斐波那契树优化算法基于该结构的可达性进行分析和证明.通过跟踪算法求解过程中坐标点的累积分布仿真实验和到达率的对比实验,分析和验证了算法求解多峰函数全局最优解的可达性.     

基于越界重置和高斯变异的蝙蝠优化算法

针对蝙蝠算法个体越界、易早熟收敛的问题，提出一种基于越界重置和高斯变异的蝙蝠优化算法。新算法将飞越解空间边界的个体拉回解空间内，利用越界重置策略重新分配位置。通过高斯变异策略控制个体的搜索范围，使种群以最优解为中心向四周呈放射状搜索，增强了算法的局部搜索和全局寻优能力。蝙蝠算法在靠近目标解时响度和脉冲发射频率更新不协调，影响了算法的持续进化能力,通过线性渐变策略保证响度和脉冲发射频率的变化与算法持续进化相适应。研究了在解空间不同位置关系的情况下新算法和对比算法的优化能力，并结合实验数据对算法收敛稳定性进行分析。实验结果表明，提出的新算法具有较好的收敛速度和精度，其全局寻优能力和高维问题优化能力体现了很好的鲁棒性。     

一种求解高维多模态复杂问题的差分文化算法

针对在求解高维多峰值复杂问题时种群容易陷入局部搜索、求解精度低的问题,提出了一种基于自适应差分进化算法和小生境高斯分布估计的文化算法。将差分进化算法用于种群空间的优化,利用动态小生境识别算法在种群空间中识别小生境群体。信度空间利用高斯分布估计算法在小生境内进行局部优化,并将小生境特征存入进化知识库,进化知识库进一步引导种群空间,有效地保证了种群的多样性,避免了局部的重复搜索。最后,通过仿真实验测试表明,算法具有收敛速度快、求解精度高、稳定性高和全局搜索能力强等优势。     

基于蚁群算法的机械臂逆问题的求解

机械手臂是一个复杂、强耦合、非线性的系统,其运动学逆问题的求解常常是一个多解或无解的过程,传统方法求解／较为困难,本文将其转化为连续性空间的优化问题,并应用蚁群优化算法对其进行求解。蚁群优化算法是随机搜索、全局优化的算法,不仅能够很好地解决任意的优化组合问题,还能较好地解决连续性空间解的优化问题。通过MATLAB仿真求解,证实了该算法的优越性,分析了参数的设置对蚁群优化算法性能的影响。     

Dynamics analysis for a novel 6-DoF parallel manipulator I with three planar limbs

A novel 6-DoF parallel manipulator I with three planar limbs is proposed and its dynamics is analyzed systematically. First, its characteristics and DoF are analyzed and calculated. Second, the formulae for solving kinematics of the moving platform and the planar limbs are derived. Third, the formulae for solving the inertial wrench applied on the planar limbs and the moving platform are derived, and dynamics formula is derived for solving dynamic active forces applied onto the planar limbs. Fourth, a singularity of the proposed parallel manipulator is determined and analyzed. Fifth, an analytic example is given for solving the kinetostatics and dynamics of the proposed parallel manipulator, and the solved results are analyzed and verified by the simulation mechanism. Finally, a workspace is constructed and analyzed by comparing with an existing 6-DoF parallel manipulator.     

并联机器人力控制算法实时并行处理

对并联机器人力控制算法基于并行结构的计算进行了研究，设计了并行处理双机系统结构。采用文中的处理方法大大提高了并联机器人力控制算法的处理速度，保证了实时力控制，进而改善并联机器人的控制质量与性能。     

松协调下双臂机器人的协作工作空间计算

分析了松协调下双臂机器人的协作工作空间，介绍了一种计算双臂机器人协作工作空间的数值方法。在该方法基础上，利用LINGO软件确定双臂机器人的协作工作空间的界限曲面和极限位置。     

A new inverse kinematics algorithm for binary manipulators with many actuators

In this paper we present a new, and extremely fast, algorithm for the inverse kinematics of discretely actuated manipulator arms with many degrees of freedom. Our only assumption is that the arm is macroscopically serial in structure, meaning that the overall structure is a serial cascade of units with each unit having either a serial or parallel kinematic structure. Our algorithm builds on previous works in which the authors and coworkers have used the workspace density function in a breadthfirst search for solving the inverse kinematics problem. The novelty of the method presented here is that only the 'mean' of this workspace density function is used. Hence the requirement of storing a sampled version of the workspace density function (which is a function on a six-dimensional space in the case of a spatial manipulator) is circumvented. We illustrate the technique with both planar revolute and variable-geometry-truss manipulators, and briefly describe a new manipulator design for which this algorithm is applicable.     

Synthesis of the forward kinematics problem algebraic modeling for the general parallel manipulator: displacement-based equations

This paper closes a triptic to address the issue of the forward kinematics problem (FKP) aimed at certified solving with an exact algebraic method. This solving method was described in the first article published in Advanced Robotics. The second one investigated the formulation specifically applied to the planar parallel manipulators. This third paper is the logical one in the footsteps of the formersones, since it continues the formulation analyses and brings them to the general spatial parallel manipulator. Hence, this paper focuses on the displacement-based equation systems. This paper is the first one to present a synthesis on forward kinematics modeling focusing on finding an optimal mathematical formulation based on the displacement-based equation systems. The majority of parallel manipulators in applications can be modeled by the 6-6 hexapod or so-called Gough platform which is constituted by a fixed base and a mobile platform attached to six kinematics chains with linear (prismatic) actuators located between two revolute or Cardan joints. Again, in order to implement algebraic methods, the parallel manipulator kinematics shall be formulated as polynomial equations systems where the equation number is at least equal to the unknown numbers. Six geometric formulations were derived. The selected algebraic proven method is implementing Gröbner bases from which it constructs an equivalent univariate polynomial system. The resolution of this last system exactly determines the real solutions which correspond to the manipulator postures. The FKP resolution of the general 6-6 parallel manipulator outputs 40 complex solutions. Several instantiations shall be computed in order to select the model which leads to the FKP resolution with the lowest response times and smaller file sizes. It was possible to reject three modelings leading to bad performances or resolution failure. It was possible to determine one formulation where the solving computations were definitely better than the others.     

并联机器人工作空间的研究

本文对并联机器人的工作空间进行了研究.算法上采用输入转化的方法.使优化过程大为简化.在此基础上.对并联机器人工作空间的各截面进行了分析.并详细讨论了结构尺寸与工作空间的关系.得出扩大工作空间的几种途径.这对设计和应用并联机器人都有实际意义.     

冗余机械臂逆运动学求解方法研究进展

随着科学技术的发展,冗余机械臂凭借其多自由度的特性获得学者的广泛关注.其中包括执行指定任务时,需要将任务路径转换为关节空间轨迹,进行逆运动学求解,求取非线性函数的连续逆映射.该求解过程尤为重要且非常复杂,国内外学者对此开展了大量研究.这里将冗余机械臂逆运动学求解方法进行分类,归纳整理出各类求解方法,分别概述解析法、数值解法、智能算法以及对应子方法的基本原理、对比及研究现状.最后,指出逆运动学求解方法面临的核心问题以及发展趋势.     

An improved hybrid method for forward kinematics analysis of parallel robots

This paper combines a new structure of artificial neural networks (ANNs) with a 3rd-order numerical algorithm and proposes an improved hybrid method for solving forward kinematics problem (FKP) of parallel manipulators. In this method, an approximate solution of the FKP is first generated by the neural network. This solution is next considered as an initial guess for the 3rd-order numerical technique which solves the nonlinear forward kinematics equations and obtains the answer with a desired level of accuracy. To speed up the method, a new structure is proposed for designing the ANN which is called Same Class One Network. In this structure, the outputs of the ANN are classified into classes of similar variables with an individual network designed for each class. The proposed method is then applied to a planar 3-RPR parallel manipulator and a spatial 3-PSP parallel robot. The results show that using this method will lead to a 55% reduction in required iterations and a 20% reduction in the FKP analysis time, while maintaining a high level of solution accuracy.     

A Kane’s based algorithm for closed-form dynamic analysis of a new design of a 3RSS-S spherical parallel manipulator

This paper proposes a systematic methodology to obtain a closed-form formulation for dynamics analysis of a new design of a fully spherical robot that is called a 3(RSS)-S parallel manipulator with real co-axial actuated shafts. The proposed robot can completely rotate about a vertical axis and can be used in celestial orientation and rehabilitation applications. After describing the robot and its inverse position, velocity and acceleration analysis is performed. Next, based on Kane’s method, a methodology for deriving the dynamical equations of motion is developed. The elaborated approach shows that the inverse dynamics of the manipulator can be reduced to solving a system of three linear equations in three unknowns. Finally, a computational algorithm to solve the inverse dynamics of the manipulator is advised and several trajectories of the moving platform are simulated.