构形平面方法求解冗余机械臂逆运动学  

Solving inverse kinematics for redundant manipulator using configuration plane method

作　　者：魏延辉[1] 韩寒[1] 于园园 杨子扬 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2016年第8期1096-1102,共7页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(51205074);国家科学技术部国际科技合作项目(2014DFR10010);高等学校博士点基金项目(20112304120007);中央高校基本科研业务费(HEUCF160403)

摘　　要：由于冗余机械臂存在冗余自由度,导致其逆运动学求解方法复杂。本文依据构形平面的基本理论,提出了一种快速、简洁的冗余机械臂逆运动学求解方法。首先对冗余机械臂的结构进行分析,将冗余机械臂分解成若干个构形平面。然后,采用构形平面匹配方法,将该机械臂工作构形进行位置和姿态匹配,同时采用半解析的方式求得逆运动学解。最后,对7自由度冗余机械臂进行仿真计算,实验结果验证了该方法求解精度高、求解速度快,而且避免产生奇异值。Due to the redundancies in the redundant manipulator, its inverse kinematics solution is complex. In this paper, based on the basic configuration plane theory, we propose a method for generating a rapid and concise solu-tion to the inverse kinematics of the redundant manipulator. First, we analyzed the structure of the redundant ma-nipulator and decomposed it into several configuration planes. Then, using the configuration plane matching method to match the position and orientation of the manipulator’ s working configuration, we obtained the semi-analytic in-verse kinematics solution. Finally, based on the results from a numerical simulation experiment for a 7-DOF redun-dant manipulator, we verified that the proposed method is fast, generates a highly precise solution, and avoids sin-gular values.

关 键 词：冗余机械臂 构形平面理论 逆运动学 空间矢量法 构形平面匹配 串联机器人 半解析 

分 类 号：TG156[金属学及工艺—热处理]