一种冗余机械臂逆运动学求解和优化方法  

A solution and optimization method for inverse kinematics of redundant manipulator

作　　者：李世其[1] 贺平 韩可 张智勇[1] LI Shiqi;HE Ping;HAN Ke;ZHANG Zhiyong(School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,China)

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

出　　处：《华中科技大学学报（自然科学版）》2024年第5期123-129,共7页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：广东省重点领域研发计划资助项目(2019B010154003).

摘　　要：为解决冗余机械臂逆运动学求解困难的问题,提出一种基于关节角参数的逆运动学求解和优化方法.首先推导了正向运动学,并基于关节角参数化法得出了解析逆运动学;然后提出综合考虑避关节极限约束与运动连续性约束的目标函数,该目标函数充分考虑了不同工作状态的差异性;最后引入带惯性权重的粒子群算法加快求解速度.实验结果表明:逆运动学求解平均时长为1.19μs,误差在10 nm以内,能够求出给定参数值的所有解,结合避关节极限和运动连续性的优化目标能够求出最优解,在直线与圆弧两种路径跟踪实验中比传统方法分别提高了68.4%和58.0%的优化效果.To solve the problem of difficulty in solving inverse kinematics of redundant manipulator,an inverse kinematics solution and optimization method based on joint angle parameterization was proposed.First,the forward kinematics were derived,and the analytical inverse kinematics were derived based on the joint angle parameterization method.Then,an objective function comprehensively considering the joint limit avoidance constraint and the motion continuity constraint was proposed,which fully considered the differences in different working states.Finally,the particle swarm algorithm with inertia weight was introduced to speed up the solution.Experiment results show that the average solution time of the inverse kinematics is 1.19μs with the error within 10 nm,and all solutions for given parameter value can be obtained.The optimal solution can be obtained by the optimization objectives combining joint limit avoidance and motion continuity,which improves the optimization effect by 68.4%and 58.0%respectively compared with the conventional methods in the straight line and arc path tracking experiments.

关 键 词：冗余机械臂 逆运动学优化 解析解 关节角参数化 粒子群算法 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]