据机械臂关节轴线方向建立了连杆坐标系，采用Denavit-Hartenberg（D-H）法求出各关节之间的坐标系变换矩阵，利用机械臂关节间的联体关系建立了机械臂正运动学模型，通过反向求解正运动模型得到机械臂逆运动学模型。为了解决逆运动控制问题，利用种群平均信息，提出了改进的多种群差分演化算法。最后数值试验表明新算法可以有效求解机械臂逆运动学模型。%The link bar coordinate system is established based on axis direction of joint axis. Then the coordinate system transformation matrix is derived according to Denavit-Hartenberg (D-H) notation, and the forward kinematics model is set up using the united relationship between joints. The inverse kinematics model is built by working out forward kinematics model in opposite direction. In order to solve the problem of inverse kinematics manipulation, an improved multiple population differential evolution based on the average information of current population is designed. The final numerical result indicates that the new algorithm could solve inverse kinematics model efficiently.
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