基于虚拟力反馈的7-DOF仿人臂逆运动学求解方法  

An Inverse Kinematics Solving Method of a 7-DOF Apery Arm Based on Virtual Force Feedback

作　　者：董春[1] 蔡鹤皋[1] 孙立宁[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150001

出　　处：《高技术通讯》2001年第7期82-84,27,共4页Chinese High Technology Letters

基　　金：863计划资助项目 (863 5 12 0 2 95 )

摘　　要：提出一种新型障碍空间描述法。利用其构成的虚拟力场对仿人臂产生的扭矩及关节优化 ,实时选择一个冗余关节并求等效虚拟扭矩 ,以其构成力反馈控制该冗余关节。将 6自由度逆运动学解法用于仿人臂其余 6个关节。仿真试验结果表明 ,这种新型逆运动学解法具有理想的避障效果 ,同时简化了逆动力学的求解 。A new kind of obstacle space expression is proposed, using it a virtual force field is constructed. The torque of the apery arm can be obtained via the virtual force field. Using the torque and joint optimization, a redundant joint is selected in real time and virtual equivalent torque is solved. The redundant joint can be controlled by the force feedback. Then, 6 DOF inverse kinematics is applied to the other six joints of the arm. The experimental results indicate that the new inverse kinematics has perfect obstacle avoidance effect, and the inverse kinematics is simplified simultaneously, which is the same with a robot with hyper degree of freedom.

关 键 词：仿人臂 虚拟力场 逆运动学 超冗余度 虚拟力反馈 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]