冗余机械臂的逆运动求解及轨迹规划  

Inverse Kinematical Solving and Trajectory Planning of Redundant Manipulator

作　　者：张明松 肖锦志 王恩恒 庄桥 Zhang Mingsong;Xiao Jinzhi;Wang Enheng;Zhuang Qiao(College of Mechanical&Power Engineering,China Three Gorges University,Yichang 443002,China)

机构地区：[1]三峡大学机械与动力学院,湖北宜昌443002

出　　处：《机械传动》2021年第6期71-76,84,共7页Journal of Mechanical Transmission

基　　金：水电机械设备设计与维护湖北省重点实验室开放基金(2017KJX01)。

摘　　要：为解决冗余机械臂在逆运动学求解中出现多重解的问题,以Jaco2的7DOF-S通用机械臂为对象,提出了一种结合解析法与基于坐标变换的几何解法的逆运动算法。根据机械臂的几何结构,推导出中间转角的唯一解,并以此映射解算得到其余关节转角;经过Matlab Robotic Toolbox与Simulink模块验证,表明该算法的精度、运算效率较高;基于已验证的运动学模型,提出了一种基于粗插补和精插值的五次插值规划算法,经Matlab轨迹规划验证模型的计算结果表明,各关节转动的连续性与平稳性较好。In order to solve the problem of multiple solutions in inverse kinematics of redundant manipulator,taking the 7 DOF-S universal manipulator of Jaco2 as the object,an inverse kinematics algorithm combined with analysis and geometry based on coordinate transformation is proposed. According to the geometry structure of the manipulator,the unique solution of the middle angle is derived,and the other joint angles are obtained by mapping. It is verified by Matlab Robotic Toolbox and Simulink modules that the algorithm has high accuracy and operation efficiency. Based on the verified kinematics model,a quintic interpolation algorithm based on rough and accurate interpolation is proposed. The calculation results of trajectory planning verified by Matlab show that the continuity and stability of each joint rotation are better.

关 键 词：冗余机械臂 逆运动学 轨迹规划 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]