关键词: 时变萤火虫群算法, 黄金比分割, 模拟退火, 冗余机器人手臂

Abstract: To solve computationally intensive problems and low solution accuracy of robot arm in redundancy inverse solution,a solution method based on Glowworm Swarm Optimization algorithm of Time-varying (TVGSO) which evolved based on Glowworm swarm optimization algorithm (GSO) was proposed.Time-varying step size was occurred according to the changes of distance between fireflies and minimum distance of all fireflies individuals within the territory.The dynamic adaptability of the algorithm was enhanced based on golden segmentation method.Secondly,the introduction of the   selection mechanism was introduced to adjust the real-time direction and position of movements dynamically,and the selection pressure during the solving process was also selected.Four simulation experiments showed the simpleness and effectiveness of the proposed algorithm.In the application of inverse solution of the robot arm,the accuracy and stability were improved effectively.

Key words: glowworm swarm optimization algorithm of time-varying, golden section, simulated annealing, redundant robot arm