康复机械手运动学旋量逆解及算法验证  

Rehabilitation Manipulator Kinematic Screw Inverse Solution and Algorithm Verification

作　　者：朱磊[1,2] 许德章 ZHU Lei;XU Dezhang(School of Artificial Intelligence,Anhui Polytechnic University,Wuhu Anhui 241000,China;Wuhu Anpu Robot Industry Technology Research Institute,Wuhu Anhui 241007,China)

机构地区：[1]安徽工程大学人工智能学院,安徽芜湖241000 [2]芜湖安普机器人产业技术研究院,安徽芜湖241007

出　　处：《佳木斯大学学报（自然科学版）》2022年第6期63-67,共5页Journal of Jiamusi University：Natural Science Edition

基　　金：国家自然科学基金(52005003);芜湖市科技局项目(2021cg03)。

摘　　要：针对具有相互平行的3个相邻关节轴的康复机械手逆运动学求解问题,提出一种旋量法与代数法相结合的逆运动学求解算法。首先,采用旋量法建立康复机械手的正运动学方程。其次,利用指数积与欧拉角理论求解第1关节角度,使用Paden-Kahan第1、3类子问题求解第2、3、4关节角度。最后,提出两种抓握手势作为算法正确性验证的评价指标,通过MATLAB计算出关节角度实际解,使用Robotics Toolbox处理结果得到各手指的末端位姿,其结果验证了算法的正确性,为康复机械手的运动控制和结构设计提供理论基础。Aiming at solving the inverse kinematics problem of a rehabilitation manipulator with three adjacent joint axes parallel to each other,an inverse kinematics solving algorithm combining the screw method and the algebraic method is proposed.First,establishment of positive kinematics equation of rehabilitation manipulator by using screw method.Secondly,using Exponential Product and Euler Angle Theory to solve the angle of joint 1.Solving the angle of joint 2,3,and 4 using Paden-Kahan sub-problems 1 and 3.Finally,two kinds of grasping gestures are proposed as evaluation indicators for algorithm correctness verification.Calculate the actual solution of the joint angle through MATLAB,and use the Robotics Toolbox to process the result to obtain the end position of each finger.The results verify the correctness of the algorithm and provide a theoretical basis for motion control and structural design of rehabilitation manipulators.

关 键 词：旋量理论 康复机械手 逆运动学算法 算法验证 

分 类 号：TH242[机械工程—机械制造及自动化]