Inverse kinematics analysis of rock drilling manipulator based on improved SA-PSO

Abstract

In the inverse solution of the rock drilling manipulator, the particle swarm optimization algorithm has been widely used, but due to the complex structure of the manipulator, its disadvantage is that the convergence speed is slow and it is easy to fall into the local optimal solution. Therefore, the adaptive annealing coefficient is introduced into the simulated annealing particle swarm optimization algorithm and improved; the overall search and convergence are improved. Through the simulation experiment of the PSO algorithm, it is proved that this method is better than the conventional PSO method in terms of convergence speed and precision, and can better solve the problem of slow convergence speed and falling into local optimum.