基于脊线自修正的蛇形机械臂逆运动学求解  

Inverse kinematics solution for snake manipulator arm based on backbone self-correction

作　　者：张鸿洋 李虎 王书亭[1] 谢远龙[1] ZHANG Hongyang;LI Hu;WANG Shuting;XIE Yuanlong(School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074;Guangdong Intelligent Robotics Institute,Dongguan 523808)

机构地区：[1]华中科技大学机械科学与工程学院,湖北武汉430074 [2]广东智能机器人研究院,广东东莞523808

出　　处：《机械设计》2024年第1期1-8,共8页Journal of Machine Design

基　　金：国家自然科学基金(52275488,52305536);湖北省重点研发领域项目(2022BAA064);广东省基础与应用基础研究基金(2022A1515110880,2023A1515011650)。

摘　　要：绳索驱动的蛇形机械臂具有超冗余的运动特性,提高了自身的灵活性及避障能力。但由于机械臂存在大量的自由度,这使得其逆运动学求解变得非常复杂,导致难以实现实时运动规划。因此,文中提出了一种新型的蛇形机械臂逆运动学求解方法,通过优化脊线及关节角度求解,实现了机械臂高效和实时的运动规划。首先,搭建了蛇形机械臂运动学模型,建立了蛇形机械臂关节空间与工作空间的映射关系;之后,提出了基于多种群蚁群优化的参考脊线求解策略,并设计了移位修正法确定多任务点脊线的空间构型,减少了脊线复杂求解的计算。此外,通过考虑拟合信息和关节约束,设计了一种结合并行趋近式规则的关节优化调整方法,推导出了蛇形机械臂的关节角度,实现了关节的连续性变化。结果表明:所提出的逆运动学求解方法可以有效降低计算复杂度,保证关节角度的有效性和连续性,以及末端位姿信息的精确性。The rope-driven snake manipulator is equipped with hyper-redundancy motion characteristic,which improves its flexibility and obstacle avoidance ability.However,due to the arm’s excessive degrees of freedom,it makes its inverse kinematics solution very complicated,posing challenges to real-time motion planning.In this article,a novel approach is adopted to solve the inverse kinematics of the snake manipulator arm,by optimizing the backbone and joint solutions;as a result,efficient and real-time motion planning is realized.Firstly,the kinematics model of the snake manipulator arm is constructed,and the mapping relationship between the joint space and the workspace is identified.Secondly,the reference backbone solving strategy based on the multi-colony ant colony optimization is proposed,and the shift-correction method is designed to work out the spatial configuration of the multi-task point backbone,therefore reducing the computational burden of complex backbone solving.Additionally,in combination with the parallel convergent rules,the joint optimization and adjustment method is designed to derive the joint angles of the snake manipulator arm,thus achieving the continuous change in the joint angle.Finally,the experiments demonstrate that thanks to the inverse kinematics solution,computation complexity has reduced effectively,the validity and continuity of the joint angles are ensured,and the information on the end pose is precise.

关 键 词：蛇形机械臂 逆运动学 超冗余 脊线 

分 类 号：TG156[金属学及工艺—热处理]