基于球面探索的超冗余机械臂逆解优化算法  

Inverse solution optimization algorithm of hyperredundant manipulator based on spherical exploration

作　　者：张逸琳 陈雨[1] 周青华 杨强 ZHANG Yi-lin;CHEN Yu;ZHOU Qing-hua;YANG Qiang

机构地区：[1]四川大学电子信息学院,四川成都610065 [2]四川大学空天科学与工程学院,四川成都610065

出　　处：《智能城市》2024年第5期1-6,共6页Intelligent City

基　　金：国家自然科学基金(U22B2080、52275205)。

摘　　要：超冗余机械臂逆运动学分析一直是机械臂领域的研究热点,存在计算复杂度高、关节超限以及位形偏移量大等问题。为避免关节超限,文章提出了一种基于球面探索的末端跟随算法,该算法采用分段搜索策略分别解决近侧关节超限和远侧关节超限的问题,自定义了无障碍物环境下末端执行器的运动轨迹,采用自适应水平位移调整机械臂的初始状态,降低关节超限的可能性。结果表明,该算法在无障碍物环境下将超限率由81.41%降低至13.72%,且该算法可以实现在关节约束范围内完成路径跟随运动。Inverse kinematics analysis of hyper-redundant manipulators has always been a research hotspot in the field of manipulators,which has some problems such as high computational complexity,joint overrun,and large configuration offset.In order to avoid joint overrun,this paper proposes an end-following algorithm based on spherical exploration,which adopts segmented search strategy to solve the problems of proximal joint overrun and distal joint overrun,respectively.The trajectory of the end-effector in the environment without obstacles is customized,and the initial state of the manipulator is adjusted by adaptive horizontal displacement to reduce the possibility of joint overrun.The results show that the algorithm can reduce the overrun rate from 81.41%to 13.72%in the environment without obstacles,and the algorithm can complete the path following motion within the joint constraint range.

关 键 词：超冗余机械臂 逆运动学 末端跟随 关节超限 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]