Research on the Forward Kinematics of Delta Robot Based on Improved LSO Algorithm

Addressing the challenge of easy inverse kinematics solution but difficult forward kinematics solution for Delta parallel robots, a kinematic model for the Delta robot was established. By improving the fitness function, the issue of multiple solutions in the process of applying heuristic algorithms to solve forward kinematics was resolved. Combining the Light Spectrum Optimizer (LSO), a simplified incident ray generation-light spectrum optimization algorithm (SIG-LSO) was proposed. By modifying the initialization sequence and iteration strategy, improvements were made in computational speed and accuracy. Simulation results demonstrate that the improved algorithm, SIG-LSO, achieves higher precision and computational speed in solving typical problems of Delta robots. This method overcomes the drawback of traditional algorithms easily falling into local optima in solving forward kinematics, while being easy to set parameters and possessing good versatility.