基于旋量和自运动的七自由度机械臂逆解算法  

INVERSE SOLUTION ALGORITHM OF 7-DOF MANIPULATOR BASED ON SCREW AND SELF MOTION

作　　者：吴亮[1] 李宪华[1,2] WU Liang;LI Xian-hua(School of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001,China;School of Artificial Intelligence,Anhui University of Science and Technology,Huainan 232001,China)

机构地区：[1]安徽理工大学机械工程学院,安徽淮南232001 [2]安徽理工大学人工智能学院,安徽淮南232001

出　　处：《南阳理工学院学报》2021年第6期84-89,共6页Journal of Nanyang Institute of Technology

基　　金：上海市机器人研发与转化功能型平台开放课题资助(K2020468),安徽理工大学研究生创新基金(2020CX2042)。

摘　　要：针对七自由度机械臂运动学建模及运动学逆解求解问题,首先,基于SolidWorks建立七自由度模块化机械臂模型,采用旋量法建立机械臂正运动学方程。然后,采用矢量法和位姿分离法两者结合求解机械臂逆解。最后,在MATLAB软件编制逆解程序,得出机械臂8组逆解,将8组逆解代入正运动学方程,并在Robotics Toolbox中进行仿真,便可得到八组逆解的机械臂末端位姿。仿真结果验证了运动学建模的正确性,同时表明该逆解算法能够准确清晰表达八组逆解的几何意义,降低了运算过程,使机械臂逆解求解更加简明,为后续机械臂动力学研究和轨迹规划提供研究基础。Aiming at the kinematics problem of the 7-DOF manipulator,firstly,a 7-DOF modular manipulator model was established based on SolidWorks,and the screw theory method was used to establish forward kinematics equation of manipulator.Then,the inverse solution of the manipulator was solved based on the combination of vector method and pose separation method.Finally,the inverse solution program was written in MATLAB,and eight groups of inverse solutions were obtained.The eight groups of inverse solutions were substituted into the forward kinematics equation and simulated in the Robotics Toolbox to obtain the end pose of the manipulator with eight groups of inverse solutions.The simulation results verify the correctness of kinematics modeling,and show that the inverse solution algorithm can accurately and clearly express the geometric meaning of inverse solutions,reduce the operation process,and make the inverse solution of the manipulator more concise,which provides a research basis for the follow-up dynamic research and trajectory planning of the manipulator.

关 键 词：七自由度机械臂 旋量理论 矢量法 位姿分离法 逆解 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]