基于牛顿—拉夫逊迭代法的6自由度机器人逆解算法  

An inverse kinematics algorithm of the general 6-DOF robot based on Newton-Raphson iteration

作　　者：王宪[1] 杨国梁[1] 张方生[1] 丁锋[1] 

机构地区：[1]江南大学通信与控制工程学院,江苏无锡214122

出　　处：《传感器与微系统》2010年第10期116-118,131,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(60574051)

摘　　要：为解决一般6自由度旋转关节机器人逆运动学问题,提出了一种用牛顿—拉夫逊迭代法逐次逼近目标位姿的逆解算法。根据正运动学方程建立雅克比矩阵,采用基于豪斯霍尔德的SVD分解求其伪逆来避免雅克比矩阵的奇异性问题,通过建立迭代规则并逐次迭代找到最优的逆运动学单解,实际应用时无需再建立多解取优策略。本算法具有较好的局部快速收敛性,能够达到较好的精度和速度,并在基于ARM9的嵌入式系统上实现了此算法。相应的测试表明:算法实时性能够满足系统要求,可应用于机器人实时控制系统。To resolve the inverse kinematics problem of the general 6-DOF rotary joint robot, an inverse algorithm is proposed, using pseudo-inverse of Jacobian matrix to solve differential movement and using Newton-Raphson iteration to approximate target position. Jacobian matrix is established according to forward kinematics, using SVD decomposition of Householder to avoid the singularity problem. This algorithm has good and fast local convergence, and can achieve higher precision and the ideal speed. The algorithm is realized on an ARM9-based embedded system. The corresponding tests show that the algorithm is real-time which can meet system requirements. It can be applied to real-time robot control system;6 degree of freedom（DOF） rotary joinot

关 键 词：机器人 运动控制 微分运动 6自由度旋转关节 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]