Research of manipulability optimization of redundant manipulator based on PSO
基于粒子群算法的冗余机械手可操作性寻优

Contrary to the uncertain configuration of redundant manipulator corresponding to the target position, this paper presented whole manipulability index SM as the second index to determine the configuration of redundant manipulator on mani-pulability and then gave a way of optimizing SM. Combine with PSO, selected points on the circumstance, whose center was the related joint coordinate and the radius was the length of the link, as the particles of algorithm to iterate. The results of simulation confirm the effectiveness of the proposed method and the superiority of SM as the second index.