基于旋量理论的冗余机械臂避奇异算法研究  

Research on Singular Avoidance Algorithm for Redundant Manipulators Based on Screw Theory

作　　者：刘一帆 李莉 吕磊 李昀佶 LIU Yifan;LI Li;LÜLei;LI Yunji(No.21 Research Institute of CETC,Shanghai 200233,China)

机构地区：[1]中国电子科技集团公司第二十一研究所,上海200233

出　　处：《微特电机》2024年第9期65-70,共6页Small & Special Electrical Machines

摘　　要：针对冗余自由度机械臂的奇异性规避问题进行了研究,对基于旋量理论对7自由度机械臂进行运动学建模,分析了机械臂的奇异性,并根据机械臂最小奇异值作为奇异性优化指标,推导了避奇异的机械臂速度级逆运动学算法。根据速度级逆运动学算法进行避奇异的路径规划实验,实验结果表明,逆运动学算法具有良好的精度,验证了避奇异算法的有效性,为冗余机械臂的运动规划奠定了基础。The singularity avoidance problem of redundant DOF manipulator was studied.A kinematic model of a 7-DOF manipulator was established based on the screw theory.The singularity of the manipulator was analyzed,and the velocity level inverse kinematics algorithm for singularity avoidance was derived based on the minimum singular value as the singularity optimization index.A path planning experiment for singularity avoidance was conducted based on the velocity level inverse kinematics algorithm.The experimental results show that the inverse kinematics algorithm has good accuracy,which verifies the effectiveness of the singularity avoidance algorithm and lays the foundation for the motion planning of redundant manipulators.

关 键 词：旋量 冗余 机械臂 逆向运动学 避奇异 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]