6自由度解耦机器人运动学逆解优化的研究  

Research on Kinematic Inverse Optimization of 6R Decoupling Robot

作　　者：周国义[1] 谢明红[1] 孙友生[1] 刘仁中[1] 

机构地区：[1]华侨大学机电及自动化学院,福建泉州362021

出　　处：《机电产品开发与创新》2009年第5期21-23,共3页Development & Innovation of Machinery & Electrical Products

摘　　要：针对6自由度解耦机器人的多解问题,分析了机器人的正、逆运动学解,提出了基于最短行程原则的运动学逆解优化方法,确保机器人系统取得合适的逆解。该方法利用6自由度解耦机器人位置与姿态解耦的特性分别给出相应的目标函数,为提高逆解优化的效率,两个目标函数采取主从式的结构。这种优化方法基于关节变量的加权均值,计算简洁又体现了最短行程的原则。最后以PUMA560机器人为例验证该方法是有效的。Aiming at the issues of multiple inverse solutions, the optimization of inverse kinematic solution was proposed,which based on the principle of the shortest itinerary, which ensure that the robot system can obtain the right inverse solution. Using the decoupling property of 6-dof robot posture and position two objective functions which use master-slave structure in order to improve the optimal efficiency were given. This optimal method which base on the weighted average of joint variable is easy to compute and shows the shortest trip. Finally, to PUMA560 robot as an example, the optimal method is confirmed effectively.

关 键 词：6自由度机器人 逆解优化 运动学模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]