冗余机械臂逆运动学求解方法研究进展  

Research progress on inverse kinematics solution methods of redundant manipulators

作　　者：贾龙飞 乔尚岭 陶云飞 郑继贵[1] 郭亚星 陈靓 黄玉平[1,2] JIA Long-fei;QIAO Shang-ling;TAO Yun-fei;ZHENG Ji-gui;GUO Ya-xing;CHEN Jing;HUANG Yu-ping(Beijing Institute of Precision Mechatronics and Controls,Beijing 100076,China;Laboratory of Aerospace Servo Actuation and Transmission,Beijing 100076,China)

机构地区：[1]北京精密机电控制设备研究所,北京100076 [2]航天伺服驱动与传动技术实验室,北京100076

出　　处：《控制与决策》2023年第12期3297-3316,共20页Control and Decision

基　　金：国家自然科学基金项目(52005124)。

摘　　要：随着科学技术的发展,冗余机械臂凭借其多自由度的特性获得学者的广泛关注.其中包括执行指定任务时,需要将任务路径转换为关节空间轨迹,进行逆运动学求解,求取非线性函数的连续逆映射.该求解过程尤为重要且非常复杂,国内外学者对此开展了大量研究.这里将冗余机械臂逆运动学求解方法进行分类,归纳整理出各类求解方法,分别概述解析法、数值解法、智能算法以及对应子方法的基本原理、对比及研究现状.最后,指出逆运动学求解方法面临的核心问题以及发展趋势.With the development of science and technology,redundant manipulators have attracted extensive attention from scholars.When the redundant manipulator completes the specified task,it is required to transform the task path into the trajectory of joints,in which continuous inverse mapping of nonlinear functions is required to solve to develop the inverse kinematics solution.The solving process is particularly important and complex,and related researchers have conducted a lot of research on it.In this paper,the methods of solving inverse kinematics of the redundant manipulator are classified,and various methods with different characteristics are summarized.Besides,the basic principles and research status of the analytical method,numerical method,intelligent algorithm,and corresponding sub-method are described respectively.Finally,the development trend and existing challenges of inverse kinematics are pointed out.

关 键 词：冗余机械臂 逆运动学 解析法 数值解法 智能算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]