一种7DOF机械臂逆运动学解析算法及其应用  

Analytical algorithm of inverse kinematics model for 7DOF manipulator

作　　者：王海[1] 蔡英凤[1] 张为公[1] 

机构地区：[1]东南大学仪器科学与工程学院,江苏南京210096

出　　处：《江苏大学学报（自然科学版）》2011年第3期254-259,共6页Journal of Jiangsu University：Natural Science Edition

基　　金：国家科技支撑计划项目(2009BAG13A04)

摘　　要：针对传统的基于雅可比矩阵最优解的数值方法对于有着冗余自由度的7自由度(7DOF)的机械臂逆运动学求解有着计算量大、只能求得单一解的不足,提出一种逆运动学的解析算法.在传统6维位姿矩阵的基础上,额外提出一个elbow angle新约束,利用位姿目标矩阵和该elbow angle共7维约束推导出7DOF机械臂逆运动学的一种可求得冗余解的解析算法,并利用该算法仿真实现了位姿控制和瞄准控制的应用.仿真结果表明:该7DOF机械臂逆运动学解析算法有着精度高、计算速度快、应用性好的优点.For 7 degree of freedom （DOF） manipulator which has redundant DOF, traditional numerical algorithm based on optimal Jacobean Matrix has some obvious cons. The numerical algorithm just provides one possible solution which can not fully use the redundancy feature of the 7 DOF manipulator. A new additional constraint which named elbow angle was proposed besides traditional pos matrix constraint. According to these 7 dimension constraint, a new analytical solving of inverse kinematics model for 7DOF manipulator was deduced to obtain redundant solution. In the simulation, pos control of manipulator end effector and aiming control were achieved based on this algorithm. The simulation results demonstrate high accuracy, fast computation and application value of this algorithm.

关 键 词：冗余机械臂 逆运动学模型 ELBOW ANGLE 解析算法 瞄准控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]