一种求解冗余机械臂逆运动学的优化方法  

An Optimization Method for Solving the Inverse Kinematics of Redundant Manipulator

作　　者：阳方平[1,2] 李洪谊[1] 王越超[1] 陈鹏[1] 王雪竹[1] 

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院研究生院,北京100049

出　　处：《机器人》2012年第1期17-21,31,共6页Robot

摘　　要：基于加权最小范数法,推导出一种避免计算雅可比矩阵伪逆的优化方法.首先对加权雅可比矩阵的6维非奇异子矩阵求逆,得到逆运动学的特解和齐次解.然后用特解减去齐次解沿特解方向的分量得到运动学逆解.通过一个7自由度冗余机械臂的算例和仿真证明了方法在保证求解精度。Based on the weighted least-norm（WLN） solution,an optimization method that avoids calculating the pseu-doinverse of Jacobian matrixes is presented.Firstly,the inverse of the nonsingular 6x6 submatrix of the Jacobian is calculated to determine particular and homogeneous solutions of the inverse kinematics.Then,the solution of the inverse kinematics is obtained by subtracting the homogeneous solution＇s component in the direction of the particular solution from the particular solution.An illustrative example and simulation on a seven degree-of-freedom redundant manipulator are taken to verify the effectiveness of the method in reducing the solving difficulty,ensuring the accuracy of solution,and avoiding the joint limits.

关 键 词：加权最小范数法 冗余机械臂 逆运动学 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]