具有运动耦合关节的除冰机器人运动学反解  

Inverse Kinematics for De-icing Robot with Motion-Coupled Joints

作　　者：刘睿[1] 王耀南[1] 印峰[1] 

机构地区：[1]湖南大学电气与信息工程学院,湖南长沙410082

出　　处：《计算机测量与控制》2010年第12期2836-2838,2845,共4页Computer Measurement &Control

基　　金：国家863项目(2008AA04Z214);国家科技支撑计划项目(2008BAF36B01)

摘　　要：针对循环坐标下降法(Cyclic-Coordinate Descent,CCD)只能处理各关节运动关系相对独立的开链式机械臂控制问题,阐述了一种改进的CCD算法,并研究了约束条件下CCD法的有效性和收敛性问题;研究结果表明,当关节之间存在运动耦合关系时破坏了CCD法的收敛性,各关节变量初始取值存在一个临界收敛角度;改进CCD法的收敛条件是:关节变量初始值应限定在无约束条件下运动学反解附近;最后以一个有关除冰机器人运动学问题为实例,计算结果验证了相关结论。As CCD algorithm can only handle inverse kinematic problems of open-loop manipulator with independent joints,a modified algorithm suitable was developed,and the effectiveness and convergence of CCD algorithm with constraints were discussed.The results showed that motion-coupled joints may damage the algorithm convergence.Trial values of joint angles had a critical convergence value in calculation.For a better convergence,trial values of joint angles should be limited at the neighborhood of inverse kinematic solutions without constraints.Finally,an example of inverse kinematics of de-icing robot was given,which could confirm the conclusions of this paper.

关 键 词：除冰机器人 输电线 运动学反解 CCD算法 

分 类 号：TH242[机械工程—机械制造及自动化]