七自由度机械臂逆运动学求解方法  

An Inverse Kinematics Method of 7-DOF Manipulator

作　　者：曹行 何俊[1] 段文杰[2] 张海博[2] CAO Hang;HE Jun;DUAN Wenjie;ZHANG Haibo(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Beijing Institute of Control Engineering,Beijing 100094,China)

机构地区：[1]上海交通大学机械与动力工程学院,上海200240 [2]北京控制工程研究所,北京100094

出　　处：《空间控制技术与应用》2024年第1期84-90,共7页Aerospace Control and Application

基　　金：国家自然科学基金资助项目(52175022);北京市自然科学基金资助项目(L192048)

摘　　要：针对SRS(spherical-roll-spherical-joint)结构的机械臂,提出了一种基于臂型角规划的逆运动学求解方法.根据目标位置设置臂型角,将臂型角作为冗余参数,利用机械臂的几何特征求出逆运动学解析解.同时,针对机械臂运动过程中可能产生的臂型角奇异位形工况,引入肘部位置约束获得运动学逆解.通过UG-Simulink联合仿真及物理试验,验证了方法的有效性.当机械臂位于肩关节奇异位形,可避免采用关节角参数化求解时产生无数组解的结果.在重力卸载环境下的抓捕和释放物理试验中,有效解决了空间运动受限时的空间奇异解问题.Aiming to SRS(spherical-roll-spherical-joint)manipulator,an inverse kinematics resolution method based on arm angle planning is proposed in this paper.This method considers arm angle,which is planned according to the target place,as a redundant parameter.According to the geometry of the manipulator,the size of each joint is figured out when arm-angle and terminal location are known.Meanwhile,aiming to the probable singular position of arm angle during the movement of the manipulator,inverse kinematics is solved by introducing the constraint of elbow position.The proposed inverse kinematics is verified by the co-simulation of UG-Simulink and physical experiment.When the manipulator is located in the shoulder singular position,this method can avoid the countless results generated by joint parameterization.In the physical experiment of capturing and releasing under the gravity-unloading environment,the presented methods in this paper can effectively solve the problem of singular solution under the limited motion space.

关 键 词：冗余机械臂 逆运动学 参数化 臂型角 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]