机械臂逆运动学模型控制新方法

根据机械臂关节轴线方向建立了连杆坐标系，采用Denavit-Hartenberg（D-H）法得到连杆坐标系变换矩阵，通过坐标系变换矩阵得到机械臂正运动学模型，由正运动模型得到机械臂逆运动学模型。该模型是一个非线性约束优化问题。为了求解模型，基于多种群和多变异策略，提出了多变异策略的多种群差分演化算法。多种群策略可以提升个体共享群体信息的能力，多变异模式策略可以提升个体间的差异性，数值试验表明新算法可以有效求解机械臂逆运动学模型。

New method to solve inverse dynamic model of robot arm

Link bar coordinate systems are established based on axis direction of joint axis;coordinate system transformation matrix is derived according to Denavit-Hartenberg（D-H）notation.Forward kinematics model is set up in the light of coordinate system transformation matrix.Inverse kinematics model is set up based on forward kinematics model at last.The forward kinematics model is a nonlinear constraint optimization problem.For the purpose of sloving inverse kinematics model,new differential evolution algorithm is proposed based on the idea of multi-population and multi-mutation strategy.Multi-population strategy improves the ability of information sharing by individuals,and multi-mutation method promotes the diversity of individuals,and the numerical results indicate that the new algorithm can solve inverse kinematics model efficiently.