基于梯度下降的串联机械臂逆运动学求解  

Solving the Inverse Kinematics of A Series Robotic Arm Based on Gradient Descent

作　　者：郑涧 史汉卿 张金柱 王涛 黄庆学[1,2] ZHENG Jian;SHI Hanqing;ZHANG Jinzhu;WANG Tao;HUANG Qingxue(College of Mechanical and Vehicle Engineering,Ministry of Education,Taiyuan University of Technology,Taiyuan 030024,China;Engineering Research Center of Advanced Metal Composites Forming Technology and Equipment,Ministry of Education,Taiyuan University of Technology,Taiyuan 030024,China;Advanced Manufacturing and Intelligent Equipment Industry Research Institute,Hai′an Taiyan University of Technology,Hai′an 226601,China)

机构地区：[1]太原理工大学机械与运载工程学院,太原030024 [2]太原理工大学先进金属复合材料成形技术与装备教育部工程研究中心,太原030024 [3]海安太原理工大学先进制造与智能装备产业研究院,海安226601

出　　处：《组合机床与自动化加工技术》2024年第11期78-82,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(51905367);太原理工大学海安研究院开放课题项目(2023HA-TYUTKFYF032)。

摘　　要：将梯度下降法用于机械臂的逆运动学求解,解决了不同自由度串联机械臂逆运动学求解的问题;将求解过程中间解利用起来,在保证了系统性能的同时,完成了轨迹规划任务;针对使用梯度下降得到的轨迹较差的问题,采用改进的梯度下降对轨迹进行了优化。用OpenGL和C++搭建了仿真平台,对六自由度和七自由度机械臂进行了仿真,算法收敛精度可达到0.01 mm,实验结果表明将梯度下降用于机械臂逆运动学求解具有实用性。The gradient descent method was applied to solve the inverse kinematics of a robotic arm,which solved the problem of solving the inverse kinematics of a series of robotic arms with different degrees of freedom;By utilizing the intermediate solutions during the solving process,the trajectory planning task was completed while ensuring system performance;In response to the problem of poor trajectory obtained through gradient descent,an improved gradient descent was adopted to optimize the trajectory.We built a simulation platform using OpenGL and C++to simulate six degree of freedom and seven degree of freedom robotic arms.The convergence accuracy of the algorithm can reach 0.01 mm.The experimental results show that using gradient descent for solving inverse kinematics of robotic arms is practical.

关 键 词：机械臂 梯度下降法 正逆运动学 轨迹规划 

分 类 号：TH112[机械工程—机械设计及理论] TG506[金属学及工艺—金属切削加工及机床]