具有关节限位的7R仿人机械臂逆运动学优化  

Inverse kinematic optimization of 7R humanoid arm with joint limits

作　　者：霍希建[1] 刘伊威[1] 姜力[1] 夏晶[1] 刘宏[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150080

出　　处：《吉林大学学报（工学版）》2016年第1期213-220,共8页Journal of Jilin University:Engineering and Technology Edition

基　　金：'973'国家重点基础研究发展计划项目(2011CB013306);国家自然科学基金项目(51175106)

摘　　要：针对7R仿人机械臂运动优化问题,建立了基于臂角参数的逆运动学封闭解,并采用解析法确定了关节限位约束下臂角参数的有效范围。此外,定义了一种新的关节位置评价函数,将避关节限位的优化指标转化为虚拟转矩。在此基础上,提出一种自寻优方法,用于解决机械臂避关节限位的运动优化问题。仿真结果表明:本文方法能准确地确定臂角的有效范围,同时能快速有效地完成机械臂运动学优化任务。To solve the kinematic optimization problem of the 7R humanoid arm,the closed-form solutions to the inverse kinematics based on the arm angle parameter were established.The range of the feasible arm angle corresponding to joint limits was determined using analytical methods.Besides,a new function was defined,which is used to evaluate the joint angles,and the optimal indexes of joint limits avoidance were transformed into virtual torques.Based on this,the self-optimizing method was proposed to solve the kinematic optimization problem of joint limits avoidance.Simulations demonstrate that the proposed method can determine the feasible range of the arm angle accurately and implement the kinematic optimization of the humanoid arm efficiently.

关 键 词：自动控制技术 冗余自由度机械臂 封闭解 有效臂角 自寻优方法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]