基于闭环算法的七自由度系统冗余问题优化研究  

Optimization of Redundancy Problems in Seven Degree of Freedom Systems Based on Closed Loop Algorithm

作　　者：马子凤 MA Zi-feng(Sichuan Machinery Research&Design Institute(Group)Co.,Ltd.,Chengdu Sichuan610031,China)

机构地区：[1]四川省机械研究设计院(集团)有限公司,四川成都610031

出　　处：《机电产品开发与创新》2025年第1期134-136,共3页Development & Innovation of Machinery & Electrical Products

摘　　要：针对多自由度机械臂在逆运动学上的系统冗余问题,本文采用一种改进的闭环逆运动学算法即选择性阻尼增益算法来分解机械臂速度层面与加速度层面的应用问题。通过比较传统逆运动算法与改进算法的误差稳定性、收敛性和奇点处理等能力,证明了优化后算法的优越性,同时通过在一个七自由度机械臂上进行实际检验,改进算法后的机械臂移动轨迹更加平滑同时用时更少,试验结果验证了该闭环算法的有效性。In response to the system redundancy problem of multi degree of freedom robotic arms in inverse kinematics,this paper adopts an improved closed-loop inverse kinematics algorithm,namely the selective damping gain algorithm,to decompose the application problems of the robotic arm at the velocity and acceleration levels.By comparing the error stability,convergence,and singularity handling capabilities of traditional inverse motion algorithms and improved algorithms,the superiority of the optimized algorithm was demonstrated.At the same time,practical testing was conducted on a seven degree of freedom robotic arm,and the improved algorithm resulted in a smoother movement trajectory and less time consumption.The experimental results verified the effectiveness of the closed-loop algorithm.

关 键 词：冗余 逆运动学 闭环算法 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]