基于粒子群迭代的一种冗余机械手逆解算法  

An inverse solution algorithm for the redundant manipulator based on particle swarm iteration

作　　者：邱正师 倪鹤鹏 张承瑞[1,2] 黄祖广 刘亚男[1,2] 胡天亮[1,2] 

机构地区：[1]山东大学机械工程学院,山东济南250061 [2]高效与洁净机械制造教育部重点实验室(山东大学),山东济南250061 [3]国家机床质量监督检验中心,北京100102

出　　处：《制造技术与机床》2017年第4期85-92,共8页Manufacturing Technology & Machine Tool

基　　金：国家自然科学基金(51405270);面向相贯线切割与焊接的智能机器人研发与产业化(2015ZDXX0101A02)

摘　　要：研究的冗余机械手具有与其末端位置相关的轴均处于同一平面的结构特点,故可将机械手末端的位置和姿态分开逆解,在平面内,利用几何分析法进行机械手末端的位置逆解;联立机械手坐标变换矩阵和欧拉角变换矩阵进行机械手末端的姿态逆解。通过以上方法,求得机械手各个轴位移变量,这些变量是关于机械手末端位姿与冗余轴变量的函数。再在冗余轴邻域内,进行粒子群迭代,寻找满足关节限位、避障要求和使各个轴加速度变化量的平方和取得最小值的一组运动学逆解,由仿真实验结果可知,应用该算法可使该冗余机械手在整个运行过程中保持平稳,且能满足实时性,证明了该算法的有效性。The redundant manipulator has the structure characteristic that the axes related to its end position are on the same plane. Therefore, the position and attitude of the manipulator end can be inversed separately. In a plane, the geometrical analysis is used to perform the inverse solution of the end position of the manipulator. The coordinate transformation matrix of the manipulator and the Euler angle transformation matrix are used to carry out the inverse solution of the attitude of the manipulator. By the above method, the variables of the manipulator are obtained as a function of the manipulator end pose and the redun- dancy axis variables. Then in the redundant axis domain, the particle swarm iteration is performed to find a set of kinematic inverse solutions that satisfy the joint limit, obstacle avoidance requirement and the square sum of all joint acceleration changes is minimized. The simulation results show that the proposed algorithm can keep the redundant manipulator steady and the real -time performance can be achieved, and prove the effectiveness of the algorithm.

关 键 词：冗余机械手 运动学逆解 粒子群迭代 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]