基于新几何子问题的6R机械臂逆运动学分析  

New subproblem for inverse kinematics of 6R robotic manipulators based on screw theory and unit quaternion

作　　者：王笑 王磊[2] WANG Xiao;WANG Lei(Department of Mechanical and Electrical Engineering,Xinjiang Institute of Engineering,Urumqi 830023,China;School of Mechanical and Electrical Engineering,Shihezi University,Shihezi 832003,China)

机构地区：[1]新疆工程学院机电工程学院,乌鲁木齐830023 [2]石河子大学机械电气工程学院,石河子832003

出　　处：《现代制造工程》2023年第7期45-53,共9页Modern Manufacturing Engineering

基　　金：新疆维吾尔自治区科协资助学会重点项目(BHWR00032);新疆工程学院科研基金项目(2016xgy061812);新疆工程学院科研育人项目(2020xgy272302)。

摘　　要：针对已有几何子问题对工业机械臂逆运动学分析通用性差且计算效率低的问题,提出了一种全新的几何子问题,并基于此开展了6R机械臂逆运动学分析研究。首先,简要叙述了已有的经典Paden-Kahan子问题;然后,在总结已有子问题不足的基础上,提出了用于求解通用6R工业机械臂逆运动学的新几何子问题,即单点绕3个轴线顺序旋转,并给出子问题的求解步骤;进一步,基于旋量理论及所提出的子问题,给出了求解工业机械臂逆运动学解的流程;最后,通过仿真和物理实验,验证所提子问题对于不同类型的6R机械臂逆运动学求解的适用性,并与文献中的已有方法进行了对比分析。研究结果表明,与已有基于旋量理论的方法相比,对于含有/不含有肩部偏移、前两个关节轴线相交/不相交的各类工业机械臂逆运动学求解问题,所提方法在通用性及计算效率上更加优良,且能够有效应用于实际机械臂的实时轨迹控制。Aiming at the problem of poor universality and low computational efficiency of the existing geometric subproblem for inverse kinematics analysis of industrial manipulators,a new geometric subproblem was proposed,and the inverse kinematics analysis of 6R manipulator was carried out based on screw theory and the proposed subproblem.Firstly,the classical Paden-Kahan subproblems were briefly described.Then,on the basis of summarizing the shortcomings of existing subproblems,a new subproblem was proposed to solve the inverse kinematics of the universal 6R industrial manipulator,that is,a single point rotates around three axes sequentially,and the solving steps of the subproblem were given.Furthermore,based on screw theory and the proposed subproblem,the process of solving the inverse kinematics of the industrial manipulator was given.Finally,through simulation and physical experiments,the applicability of the proposed subproblem for solving inverse kinematics of different types of 6R manipulators was verified and compared with existing methods in literatures.The research results show that,compared with the existing methods based on screw theory,the proposed method is better in universality and analyzing efficiency for all kinds of industrial manipulators whether with/without shoulder offset,or the first two joint axes intersect/do not intersect,and can be effectively applied to the real-time trajectory control of actual robotic manipulators.

关 键 词：工业机械臂 逆运动学 几何子问题 Paden-Kahan子问题 旋量理论 

分 类 号：TH112[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]