一种用VM建模方法的空间机器人逆运动学算法  

Inverse kinematics algorithm for space robots using the virtual manipulator approach

作　　者：夏进军[1] 金明河[1] 刘宏[1,2] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080 [2]德国宇航中心机器人及机电一体化研究所,德国慕尼黑82230

出　　处：《华中科技大学学报（自然科学版）》2009年第4期5-8,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：长江学者和创新团队发展计划资助项目;国家高技术研究发展计划资助项目(2006AA04Z228)

摘　　要：基于虚拟机械臂(VM)建模方法,构造了自由漂浮空间机器人的等效模型,建立了自由漂浮空间机器人的运动学方程.在此模型基础上,对加速隐式近似线性规划方法(AIALPA)进行了改进,提出一种新的更高效的避动力学奇异的逆运动学算法.把自由漂浮空间机器人避动力学奇异问题转化为避虚拟机械臂的运动学奇异问题.算例验证了算法的有效性,结果表明该算法和AIALPA算法得到相同的关节运动曲线,而所需的迭代次数大约是AIALPA算法的1/2.The equivalent model of free floating space robots was developed by using virtual manipulator （VM） approach. A new algorithm for solving the inverse kinematics of free floating space robots was proposed, which is more efficient than the accelerated implicit approximate-linear-programming method （AIALPA）. The problem on avoiding dynamic singularities was substituted by an alternate problem on avoiding the kinematic singularities of the virtual manipulator. And an example was presented for verifying the validity of the proposed algorithm. The results show that the same joint motion curves are determined by both algorithms. However, the iterations of the proposed algorithm are approximately half of that of the AIALPA algorithm.

关 键 词：自由漂浮空间机器人 逆运动学 动力学奇异 虚拟机械臂 SVD分解 雅可比矩阵 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]