超冗余移动机械臂的逆运动学快速求解

为了快速并精确地求解一类冗余移动机械臂(MM)运动学的优化逆解，提出了一种基于遗传信
赖域算法和解析解法相结合的运动学求逆方法. 首先使用解析解法求出机械臂逆解关于移动
车运动参数的表达式，据此表达式引入关节最佳柔顺性准则确定信赖域算法的目标函数；然
后用遗传信赖域算法快速求解此只包含移动车运动参数为自变量的目标函数的最优化问题，
据此求出运动学逆解. 仿真算例表明，该方法能快速求出精确和优化的运动学逆解.

A Rapid Inverse Kinematics Solution for Super-Redundant Mobile Manipulator

To obtain optimized inverse kinematics solution for a class of redundant mobile manipulator (MM) quickly and accurately, an inverse kinematics method based on genetic trust region algorithm combined with analytical solution is proposed. Manipulator's inverse kinematics expressions expressed by mobile vehicle's movement parameters are derived. The flexibility principle to determine the objective function for trust region algorithm is introduced. Finally, the optimization problem of the objective function by genetic trust region algorithm to get the inverse kinematics solutions of mobile manipulator is solved. Simulations show that the method can quickly obtain precised and optimized inverse kinematics solutions.