Redundant spraying robot system random walk sparrow search inverse kinematic solution algorithm

For the sake of solving the inverse kinematics problem of the redundant robotic spraying system for ship blocks, the Modified Denavit Hartenberg(MDH)method was used to set up the kinematics model of the robotic system. Subsequently, an optimization model of the inverse kinematic problem of the spraying robot was set up to reduce the robot end-effector location and posture error, and a Random Walk Sparrow Search Algorithm was proposed to resolve the model. A random walk strategy was applied to disturb the updated optimal sparrow location after the sparrow search, further promoting the local searchability of this algorithm. To investigate the efficacy of the random walk strategy, six simulation experiments utilizing the Sparrow Search Algorithm(SSA)algorithm were conducted which resulted in demonstrating its effectiveness. Then, applying it to the 9-DOF robot inverse kinematics solution, the RWSSA increases the solution time by 7.44% and improves the solution accuracy by 12.81% relative to the SSA. It reduces the solution time by 15.15%and improves the solution accuracy by 89.01%compared to the Particle Swarm Optimization (PSO). The results show that the RWSSA owns preferable solution correctness and rate of convergence. The validity of the RWSSA was verified in the spraying experiments, showing that the RWSSA has higher solution accuracy in the redundant robot inverse solution problem.