七轴冗余机器人逆向运动学混合快速求解算法  

Hybrid Fast Algorithm for Inverse Kinematics of 7-Axis Redundant Robot

作　　者：谷加辉 丁力 刘晨 李子依 GU Jia-hui;DING Li;LIU Chen;LI Zi-yi(School of Mechanical Engineering,Jiangsu University of Technology,Changzhou 213001,China)

机构地区：[1]江苏理工学院机械工程学院,常州213001

出　　处：《组合机床与自动化加工技术》2022年第5期88-91,95,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金(52005231);常州市社会发展科技支撑项目(CE20215050);江苏省自然科学基金资助项目(BK20170315)。

摘　　要：传统数值法在求解七轴冗余机器人逆向运动学问题上易受末端位姿初值的影响,求解精度通常不高,无法满足工业生产要求。针对上述问题,提出了一种综合雅克比伪逆法和循环坐标下降法的混合快速算法来提高求解精度。首先,在已知末端执行器目标位姿的前提下,利用雅克比矩阵法获得冗余机器人关节角的近似解;其次,将关节角近似解作为循环坐标下降法的初始值,采用基于前向递归算法进一步挖掘潜在的最优关节角解,使得冗余机器人末端执行器趋近目标位姿;最后,通过逆解仿真算例对所提算法的有效性进行了验证,结果表明混合快速算法的求解精度能达到10^(-6),求解时间可控制在0.5 s以内,具有较好的逆向运动学求解质量与求解效率。The traditional numerical method for solving the inverse kinematics problem of 7-axis redundant robots are susceptible to the initial value of the pose of end-effector,and the solution accuracy is usually not high enough to meet the requirements of industrial production.Aiming at these problems,a hybrid fast algorithm combining Jacobian pseudo-inverse method and cyclic coordinate descent method is proposed to improve the accuracy of the solution.The Jacobian matrix method is used to obtain the approximate solution of the joint Angle of the redundant robot under the condition that the target pose of the end-effector is known.Furthermore,the approximate joint Angle solution was taken as the initial value of the cyclic coordinate descent method,and the potential optimal joint Angle solution was further extracted based on the forward recursive algorithm,so that the end-effector of the redundant robot approached the target pose.Finally,the effectiveness of the proposed algorithm was verified by an inverse solution simulation example.The results show that the solution precision of the hybrid fast algorithm can reach 10^(-6),and the solution time can be controlled within 0.5 s,which has good inverse kinematics solution quality and solution efficiency.

关 键 词：冗余机器人 逆向运动学 混合快速算法 雅克比矩阵 循环坐标下降法 

分 类 号：TH165[机械工程—机械制造及自动化] TG502[金属学及工艺—金属切削加工及机床]