To assess the inverse kinematics (IK) of multiple degree-of-freedom (DOF) serial manipulators, this article proposes a method for solving the IK of manipulators using an improved self-adaptive mutation differential evolution (DE) algorithm. First, based on the self-adaptive DE algorithm, a new adaptive mutation operator and adaptive scaling factor are proposed to change the control parameters and differential strategy of the DE algorithm. Then, an error-related weight coefficient of the objective function is proposed to balance the weight of the position error and orientation error in the objective function. Finally, the proposed method is verified by the benchmark function, the 6-DOF and 7-DOF serial manipulator model. Experimental results show that the improvement of the algorithm and improved objective function can significantly improve the accuracy of the IK. For the specified points and random points in the feasible region, the proportion of accuracy meeting the specified requirements is increased by 22.5% and 28.7%, respectively.

为了评估多自由度（DOF）串行机械手的逆运动学（IK），本文提出了一种使用改进的自适应变异差分进化（DE）算法求解机械手IK的方法。首先，基于自适应DE算法，提出了一种新的自适应变异算子和自适应缩放因子，以改变DE算法的控制参数和差分策略。然后，提出了目标函数的与误差有关的权重系数，以平衡目标函数中位置误差和方向误差的权重。最后，通过基准函数，6-DOF和7-DOF串行机械手模型对所提出的方法进行了验证。实验结果表明，算法的改进和目标函数的改进可以显着提高IK的精度。对于可行区域中的指定点和随机点，满足指定要求的精度比例分别提高了22.5％和28.7％。