6R机器人运动学分析及奇异处理研究  

Solution for Inverse Kinematics and Research for the Singularity of the 6R Robot

作　　者：柳贺 刘蕾 曾辉 李勋 万君 

机构地区：[1]安徽埃夫特智能装备有限公司蔡鹤皋院士工作站,安徽芜湖241009

出　　处：《安徽师范大学学报（自然科学版）》2016年第2期132-136,共5页Journal of Anhui Normal University(Natural Science)

基　　金：安徽省工业机器人成套技术开发与应用项目(11Z0101010);国家科技部863计划(2014AA041601)

摘　　要：针对机器人逆运动学过程中存在运算复杂、多组解的选取问题,提出了一种6R机器人逆运动学的几何方法.在求解的推导过程中,采用几何法与双变量正切函数相结合避免了失解,针对有多组逆解的情况,采用"插补连续性"的最短路径与最优标志设置准则相结合选取一组最优解,同时考虑奇异位的避让,满足实际工程中的需要,在公司生产的多款机器人中获得了成熟应用.Aiming to solving the problem of computing complex and a lot of solutions in the solution process of inverse kinematics of robot, a geometric algorithm method for inverse kin-ematics of 6R manipulators is presented. The geometric algorithm method and dual variable tangent function are used to avoid losing solutions. The shortest distance rule of consecutive interpolation and the optimization flag are presented to choose a solution closest to the current manipulator for a number of inverse kinematics solutions. Additionally, singularity is awoided. The research results have been applied successfully in 6R robots of the company.

关 键 词：工业机器人 逆运动学 奇异 插补连续 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]