基于位姿分离的机械臂解析求逆优化算法  

Analytical inversion optimization algorithm based on position and attitude separation of manipulator

作　　者：隋涛 孔刘君 姜昊 蒋强 SUI Tao;KONG Liujun;JIANG Hao;JIANG Qiang(School of Automation and Electrical Engineering,Shenyang Ligong University,Shenyang 110159,China)

机构地区：[1]沈阳理工大学自动化与电气工程学院,沈阳110159

出　　处：《沈阳工业大学学报》2023年第5期540-545,共6页Journal of Shenyang University of Technology

基　　金：辽宁省教育厅项目(LG202014).

摘　　要：针对6R机械臂逆向运动学求解过程复杂繁琐、求解精度不理想的问题,提出一种基于位姿分离的解析求逆优化算法.利用改进型D-H参数法建立机械臂的运动学模型,通过连杆变换矩阵推导出机械臂的正向运动学方程,利用位姿分离思想进行逆解优化算法设计,利用蒙特卡洛法分析机械臂的工作空间,运用Matlab Robotics工具箱验证改进算法的有效性.结果表明:该改进算法具有较高的求解精度,与现有解析优化算法相比,大幅度简化了求解过程,提高了运算效率.Aiming at the problem that the inverse kinematics solving process of 6R manipulator is complicated and the solving precision is not ideal,an analytical inversion optimization algorithm based on the separation of position and attitude was proposed.The kinematic model of manipulator was established by using the improved D-H parameter method,and the forward kinematic equation of manipulator was derived through the link transformation matrix.The idea of position and attitude separation was used to design the inverse solution optimization algorithm,and the Monte Carlo method was used to analyze the workspace of manipulator.Furthermore,Matlab Robotics toolbox was used to verify the effectiveness of the improved algorithm.The results show that the improved algorithm has higher solving accuracy,greatly simplifies the solving process,and improves the operation efficiency compared with the existing analytical optimization algorithm.

关 键 词：机械臂 逆向运动学 位姿分离 运动学模型 正向运动学 解析法 蒙特卡洛法 工作空间 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]