一种基于RS-CMSA算法的机器人逆运动学求解方法本发明公开一种基于RSCMSA算法的机器人逆运动学求解方法.包括以下步骤:(1)基于PoE公式对串联机器人进行正运动学建模;(2)将机器人逆运动学求解问题建模成非线性多模态优化问题;(3)利用RSCMSA算法对非线性多模态优化问题进行求解,获得给定位姿对应的所有符合约束的逆解....
This report presents results of benchmarking an improved version RS-CMSA-ES on the test suite employed for WCCI/CEC'2020 competition on niching methods for multimodal optimization. An upper-level description of the improvement to the existing RS-CMSA-ES code is provided.DOI...