基于旋量理论的串联机器人逆解子问题求解算法  

Inverse kinematics sub-problem solution algorithm for serial robot based on screw theory

作　　者：陈庆诚[1] 朱世强[1] 王宣银[1] 张学群[1] 

机构地区：[1]浙江大学流体动力与机电系统国家重点实验室,浙江杭州310027

出　　处：《浙江大学学报（工学版）》2014年第1期8-14,20,共8页Journal of Zhejiang University：Engineering Science

基　　金：浙江省自然科学基金资助项目(Y1100693);浙江省重点科技创新团队资助项目(2009R50014)

摘　　要：为了提高串联机器人逆运动学的求解效率,明确逆解的几何意义,提出基于旋量理论的逆运动学子问题求解算法.该子问题描述为"绕3个不相交轴旋转(其中2个轴线平行,且与第3个轴异面)".以6自由度串联机器人"钱江一号"为例,通过旋量理论及指数积(POEs)方程来建立运动学模型,给出该新型逆运动学子问题的求解方法.将整体逆运动学问题分解为该类子问题和其他已知的Paden-Kahan逆运动学子问题来联合求解.通过实例验算证明,该逆运动学子问题的求解方法高效可靠,具有明显的几何意义,能够满足机器人的强实时系统控制要求.A novel inverse kinematics sub-problem solution based on screw theory was proposed in order to improve the operation efficiency of inverse kinematics for serial robot and clarify the geometrical significance.The solution can be described as‘rotating about three non-intersecting axes of which two axes are parallel and non co-planar to the third'.Taking 6DOF serial robot Qianjiang I as an example,the kinematics model based on screw theory was constructed by introducing the product of exponentials(POEs) formula and the inverse kinematics was solved by using the proposed novel inverse kinematics sub-problem solution.The full inverse kinematics problem was reduced into appropriate sub-problems involving three basic known Paden-Kahan sub-problems.The reliability and real-time performance of the proposed algorithm was testified by checking computations and simulation.

关 键 词：串联机器人 旋量理论 指数积(POEs) 逆运动学 Paden-Kahan子问题 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]