一种冗余机械臂构型优化方法  

Optimization method for the configuration of redundant manipulators

作　　者：张耀文[1] 王证普 刘业超[1] 曹宝石[1] 谢宗武[1] 刘宏[1] ZHANG Yaowen;WANG Zhengpu;LIU Yechao;CAO Baoshi;XIE Zongwu;LIU Hong(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2023年第3期329-336,共8页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(91848202);中国博士后科学基金项目(2021M690826).

摘　　要：针对存在结构偏置7自由度机械臂的逆运动学问题,本文提出了一种选择最优关节角参数的位置级逆运动学优化算法,根据基于关节参数固定的关节角解析解,将牛顿迭代法与拉格朗日乘子法相结合,将机械臂最优构型的计算问题转化为机械臂最优标志参数的寻根问题,分别针对关节构型、关节力矩整体进行优化,求解出最优构型。该方法与速度级逆运动学算法对比,具有计算精度高、收敛速度快的优点,并且进行了对比仿真实验。结果表明:相较于速度级算法,该方法得到的逆解没有终态自运动,位姿精度高4个数量级,关节最大受力降低了13%,并且力矩优化速度更快,具有十分重要的在轨应用意义。Considering a 7-degrees-of-freedom physical structure bias of the manipulator inverse kinematics problem,this paper presents a position inverse kinematics optimization algorithm for selecting the optimal parameter of a joint angle.Based on the analytical solution to the fixed parameters of a joint angle,by combining the Newton iteration method and Lagrange multiplier method,the algorithm transforms the calculation problem of the optimal configuration of the manipulator to determine the root of the optimal marking parameter of the manipulator.The algorithm optimizes the joint configuration and joint torque as a whole and identifies the optimal configuration.Compared with the velocity inverse kinematics algorithm,this method has higher accuracy and faster convergence.A comparative simulation experiment is conducted.The results show that compared with the velocity-stage algorithm,the inverse solution obtained by this method has no final-state self-motion,the accuracy in the position and pose is four orders of magnitude higher,the maximum joint force is reduced by 13%,and the torque optimization speed is fast,which is of great significance to in-orbit applications.

关 键 词：空间机械臂 冗余 逆运动学 位置级 解析法 拉格朗日乘子 力操作比 关节限位 力矩优化 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]