基于旋量理论的三指机器人灵巧手逆运动学分析  

Inverse Kinematics Analyses of 3-finger Robot Dexterous Hand Based on Screw Theory

作　　者：裴九芳 许德章 王海 

机构地区：[1]安徽工程大学机械与汽车工程学院,芜湖241000

出　　处：《中国机械工程》2017年第24期2975-2980,共6页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51175001);安徽工程大学优秀青年人才基金资助重点项目(2013RZR001zd)

摘　　要：为提高三指机器人灵巧手逆运动学的求解效率,提出了基于旋量理论的逆运动学新的求解算法。以Shadow三指灵巧手为例,在无法直接利用单纯的Paden-Kahan子问题求解逆运动学的条件下,食指(无名指)的逆解采用Paden-Kahan子问题与代数解相结合的算法,拇指的逆解采用数值法与Paden-Kahan子问题相结合的算法。最后通过计算实例证明了算法的有效性和可行性。该算法在保证精度的前提下,几何意义明显,耗费时间短,效率高。A novel inverse kinematics algorithm was proposed based on screw theory in order to improve operation efficiency of inverse kinematics for 3-finger robot dexterous hand.Taking Shadow3-finger robot dexterous hand as an example,because inverse kinematics might not be solved directly by Paden-Kahan sub problem,an inverse solution of index finger（ring finger）was combined with algebraic solution and Paden-Kahan sub problem.The inverse solution of thumb was combined with numerical method and Paden-Kahan sub problem.Finally,validity and feasibility of the algorithms were proved by an example.Under the premise of ensuring accuracy,the algorithms have obvious geometric meaning,less computation,and high efficiency.

关 键 词：旋量理论 灵巧手 逆运动学 Paden-Kahan子问题 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]