基于免疫进化的并联机器人的位姿估计

提出了一种基于免疫进化算法的并联机器人位姿估计算法。建立了视觉检测坐标系和位姿参数估计模型；借鉴生物免疫系统中克隆变异和免疫记忆机理，通过免疫进化获得位姿参数的可行解。实验表明，相较于传统迭代算法，基于免疫进化算法的位姿检测算法收敛快，精确度高，对噪声不敏感，具有较好的鲁棒性。

Immune evolutionary algorithm based poses estimation for parallel robot

Based on immune systems,a new immune evolutionary algorithm is presented to develop a pose estimation meth- od for a parallel manipulator.Firstly, the coordinates are established for vision detection, and the parameter model is given. Then, profiting from the elonal variation and the immune remember mechanism of the biology immune system, the feasible solutions of the pose parameters are obtained through the immunity evolution.The experimental results indicate that the im- mune algorithm based pose estimation method has several merits by comparing with the traditional iterative methods.It has a high precision and converges quickly.Besides,it is insensitive to the noise and has a good robustness.