液压驱动的多冗余机械臂逆运动学算法  

Inverse Kinematics Method for Hydraulic Driven Multiple-redundant Manipulators

作　　者：沈莹杰[1] 米智楠[1] 

机构地区：[1]同济大学机械工程学院,上海200092

出　　处：《流体传动与控制》2013年第2期22-25,共4页Fluid Power Transmission & Control

摘　　要：液压驱动的多冗余机械臂用常规方法很难实现实时、精确的自动化控制,提出了一种基于几何理论的数值迭代算法,能快速地求解出多冗余机械臂的运动学逆解,并利用此算法对混凝土泵车的臂架系统进行了模拟仿真,仿真结果表明,此算法符合泵车臂架系统的实时自动化控制。This paper proposed a new iteration method based on geometry to solve the inverse kinematics for hydrau- lic driven multiple-redundant manipulator that is difficult to control real-time since its degrees of freedom are multi- ple-redundant. Using the proposed method, the optimal solution can be quickly and accurately obtained from these infinite solutions. Simulation results show that the new method has a fast convergence speed and good stability. It＇s suitable for control real-time.

关 键 词：多冗余机械臂 逆运动学算法 混凝土泵车 

分 类 号：TH137[机械工程—机械制造及自动化]