An Inverse Kinematics Solution for Mobile Manipulators in Textile Workshops Based on an Improved Particle Swarm Optimization

To enhance the operational performance of mobile manipulators in textile workshops and address the difficulty of inverse kinematics (IK) for this class of redundant manipulators, this paper leverages the robot’s structural symmetries and proposes a chaotic-mutation particle swarm optimization (CMPSO)-based IK algorithm for mobile manipulators, thus simplifying the solution process and ensuring balanced exploration of the search space. First, the coordinate–transformation relationships of the mobile manipulator are analyzed to establish its forward kinematic model. Then, a multi-objective constrained IK model is formulated according to the manipulator’s operating characteristics. The model incorporates a pose-error function, the ‘compliance’ principle, and joint-limit avoidance. To solve this model accurately, we refine the population initialization and boundary-violation handling of the particle swarm algorithm and introduce an asymmetric mechanism via an adaptive mutation strategy, culminating in a CMPSO-based IK solver. On this basis, single-pose IK tests and trajectory-planning experiments are conducted, and simulation results verify the effectiveness and stability of the proposed algorithm.