木板抓取冗余机械臂逆运动学求解  

Inverse kinematics solution of redundant robot arm in picking board

作　　者：徐呈艺[1,2,3] 刘英 贾民平[2] 肖轶[3] 曹健[3] XU Chengyi;LIU Ying;JIA Minping;XIAO Yi;CAO Jian(College of Electronic and Mechanical Engineering,Nanjing Forestry University,Nanjing 210037,China;School of Mechanical Engineering,Southeast University,Nanjing 211189,China;College of Mechanical Engineering,Nantong Vocational University,Nantong 226007,China)

机构地区：[1]南京林业大学机械电子工程学院,江苏南京210037 [2]东南大学机械工程学院,江苏南京211189 [3]南通职业大学机械工程学院,江苏南通226007

出　　处：《计算机集成制造系统》2020年第12期3368-3374,共7页Computer Integrated Manufacturing Systems

基　　金：江苏省重点研发计划(产业前瞻与关键核心技术)资助项目(BE2019112);江苏省政策引导类计划(国际科技合作)资助项目(BZ2016028);江苏省自然科学基金面上资助项目(BK20191209);江苏高校“青蓝工程”资助项目(2019);江苏省高等职业院校专业带头人高端研修资助项目(2019GRFX084)。

摘　　要：针对木板抓取冗余机械臂逆运动学求解困难的问题,基于七自由度机械臂的几何构型与向量特性,引入机械臂自运动结合位姿分离法求解逆运动学。首先由机械臂关节末端位置向量解得关节变量4和臂型参考平面时的前三个关节变量,再引入臂型角对关节0-3的姿态矩阵进行Rodrigues变换求解前3个关节变量;然后通过机械臂关节末端姿态矩阵求解后3个关节变量,并对该机械臂奇异点进行分析;最后以加权构型空间距离函数最小值对应的机械臂关节角作为选定的逆解。通过实验表明该方法成功率更高、耗时更短、结果精度更高,木板抓取试验成功率高。该方法在冗余机械臂视觉伺服等实时控制中有较好的应用意义。Aiming at the difficult problem for solving the inverse kinematics of redundant robotic arm in picking board,based on the geometric configuration and vector characteristics of Seven Degrees Of Freedom(7-DOF)manipulator,the method of self-motion and separation of position and orientation was introduced to solve the inverse kinematics.The fourth joint angle and the first three joint angles in the reference arm plane were solved by the position vector of joint end on the robot.Then the arm Angle was introduced to solve the first three joint variables by Rodrigues transformation on the attitude matrix of joint 0-3.The last three joint variables were solved by the attitude matrix of joint end of the manipulator,and the singularity of the manipulator was analyzed.The weighted configuration space distance was used as an evaluation function to optimize the inverse solution.The experimental results showed that the proposed method had a higher success rate,shorter time consumption,higher accuracy and higher success rate of picking test.The methods had good application significance in real time control such as visual servo of redundant manipulator.

关 键 词：木板抓取 冗余机械臂 七自由度 逆运动学 位姿分离 逆解优选 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]