六自由度机械臂反向动力学递推算法研究  

Research on a Inverse Dynamic Recursive Algorithm for a 6-DOF Manipulator

作　　者：谈衡 刘凯磊 康绍鹏 TAN Heng;LIU Kailei;KANG Shaopeng(School of Mechanical Engineering,Jiangsu University of Technology,Changzhou Jiangsu 213000,China)

机构地区：[1]江苏理工学院机械工程学院,江苏常州213000

出　　处：《机床与液压》2021年第17期49-53,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年基金项目(51805228);江苏省高等学校自然科学基金研究项目(20KJB580005)。

摘　　要：针对多自由度串联型工业机械臂反向动力学求解问题,提出一种基于解耦自然正交补的反向动力学递推算法。通过六维旋量描述相邻连杆的速度约束,用自然正交补矩阵构建关节速度与六维旋量之间的关系。采用非解耦的Newton-Euler方程建立机械臂的动力学模型,当考虑连杆间的速度约束时,将该动力学模型用基于自然正交补的方法进行解耦,形成机械臂反向动力学递推算法,得到动力学模型的最小阶形式。以KUKA KR5六自由度机械臂为例,在仿真环境下对所提算法的有效性进行验证。结果表明:与其他4种算法相比,该算法计算复杂度低、计算效率高;该算法计算效率比ADAMS高67.7%。Aiming at the inverse dynamic solver of a multi-degree-of-freedom(DOF)industrial manipulator,a inverse dynamic recursive algorithm based on decoupled natural orthogonal complement was proposed.The velocity constraint was described by 6-dimensional twist vector,and the relation between joint velocities and twist vector was constructed by using the natural orthogonal complement matrix.The dynamical model of the manipulator was modelled by using the non-decoupled Newton-Euler equation.Considering the velocity constraint,the dynamical model was decoupled by using the natural orthogonal complement method to form the inverse dynamic recursive algorithm for the manipulator,and the least order form of the dynamics model was obtained.Taking a KUKA KR56-DOF manipulator as an example,the effectiveness of the proposed algorithm was verified in simulation environment.The results show that compared with other four algorithms,the proposed algorithm has lower computational complexity and higher computational efficiency;the calculation efficiency of this algorithm is 67.7%higher than that of ADAMS.

关 键 词：机械臂 反向动力学 递推算法 自然正交补法 速度约束 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]