冗余机械臂运动学逆解的求解优化方法  

Optimized method for solving inverse kinematics of redundant manipulator

作　　者：张铮 朱齐丹 吕晓龙[1] 樊星[2] ZHANG Zheng;ZHU Qi-dan;LYU Xiao-long;FAN Xing(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China;Institute of Chemical Materials,China Academy of Engineering Physics,Mianyang 621999,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,哈尔滨150001 [2]中国工程物理研究院化工材料研究所,四川绵阳621999

出　　处：《吉林大学学报（工学版）》2023年第12期3379-3387,共9页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(U1530119)。

摘　　要：为解决仿人冗余机械臂逆运动学的求解问题,本文提出了一种逆运动学求解优化方法。通过引入臂角参数建立了逆解的解析解公式,根据关节限位进一步分析了不同形式解析解下的臂角可行区间。此外,提出了综合考虑关节避限和能耗最优的目标函数,通过自适应权重参数调节任务优先级,并引入粒子群优化算法得出最优解。实验结果表明,该算法能求出给定臂角的所有解,并且能选出满足关节避限和低能耗的最优解,对于冗余机械臂的轨迹规划有较好的应用意义。To solve the inverse kinematics of humanoid redundant manipulator,an optimized method was proposed.The analytical solution of the inverse kinematics was established by introducing the arm angle parameters,and the feasible range of the arm angle under different forms of analytical solutions was further analyzed according to the joint limit.In addition,an objective function considering joint limit avoidance and optimal energy consumption was proposed.Tasks,priority was adjusted through adaptive weight parameters,and the particle swarm optimization algorithm was introduced to obtain the optimal solution.Experimental results show that the algorithm can obtain all solutions for a given arm angle and can select the optimal solution that satisfies the joint limit avoidance and low energy consumption.The proposed method has positive application significance for the trajectory movement of the redundant manipulator.

关 键 词：冗余机械臂 逆运动学 解析解 关节限位 能耗最优 粒子群优化算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]