6R模块化机器人逆解算法与误差分析  

Solution of Inverse Kinematics and Error Analysis for 6R Modular Robot

作　　者：刘广瑞[1] 孟少飞 王钊[1] 高建设[1] LIU Guang-rui;MENG Shao-fei;WANG Zhao;GAO Jian-she(School of Mechanical and Power Engineering,Zhengzhou University,He'nan Zhengzhou 450001,China)

机构地区：[1]郑州大学机械与动力工程学院,河南郑州450001

出　　处：《机械设计与制造》2022年第7期295-300,共6页Machinery Design & Manufacture

基　　金：国家重点研发计划(2018YFB0104100)。

摘　　要：为解决6R模块化串联机器人逆运动学求解精度和效率低的问题,运用D-H法对该机器人进行建模和正运动学分析,提出了解析法+BP神经网络相结合求逆运动学的方法。在逆运动学求解过程中,采用解析法求解前三个关节角度,采用BP神经网络建立运动学逆解模型求解后三个关节角度。为解决网络训练样本数据优选问题,采用核聚类理论和随机抽取算法对后三个关节的位姿参数样本进行优选,将逆运动学问题转化为基于BP的多输入多输出预测系统。运用该逆解模型进行复杂运动轨迹仿真,结果显示该神经网络模型求逆解的精度最高可达6.8212e-8°。并将该方法与解析法+BP神经网络不同的组合模式进行预测求解对比,结果表明该求逆解组合模式不但求解精度高,而且求解简单、泛化能力强。In order to solve the problem of low accuracy and efficiency of solving inverse kinematics of 6R modular serial robot,D-H method is used to conduct modeling and forward kinematics analysis of the robot,and an analytical method combined with BP neural network was proposed to solve inverse kinematics.In the process of solving inverse kinematics,analytic method is adopted to solve the first three joint angles,and BP neural network is used to establish inverse kinematics model to solve the last three joint angles.In order to solve the problem of network training sample data optimization,kernel clustering theory and random extraction algorithm are used to optimize the pose parameter samples of the latter three joints,and the inverse kinematics problem is transformed into a bp-based multi-input multi-output prediction system.The inverse solution model is used for complex trajectory simulation,the results show that the accuracy of the inverse solution of the neural network model is up to 6.8212e-8°.The method is compared with different configuration modes of analytic solution+BP neural network for predictive solution,the results show that the combined model is not only accurate,but also simple and easy to be generalized.

关 键 词：6R模块化机器人 逆运动学 BP神经网络 轨迹仿真 误差分析 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]