带有关节限位问题的冗余机械臂逆运动学方法  

INVERSE KINEMATICS METHOD OF REDUNDANT MANIPULATOR WITH JOINT LIMITS

作　　者：刘聪 刘志远 张明月 生宁[1] 祖丽楠 Liu Cong;Liu Zhiyuan;Zhang Mingyue;Sheng Ning;Zu Linan(School of Automation and Electronic Engineering,Qingdao University of Science and Technology,Qingdao 266100,Shandong,China;School of Chinese-German Technology,Qingdao University of Science and Technology,Qingdao 266100,Shandong,China)

机构地区：[1]青岛科技大学自动化与电子工程学院,山东青岛266100 [2]青岛科技大学中德科技学院,山东青岛266100

出　　处：《计算机应用与软件》2025年第2期308-313,322,共7页Computer Applications and Software

基　　金：国家自然科学基金青年科学基金项目(61703223)。

摘　　要：针对带有关节限位的冗余机械臂逆运动学求解问题,提出一种优化关节速度的保护性加权最小范数法,以解决经典加权最小范数法在极限处附近存在关节角速度过大等问题。这种方法使得关节在接近角度极限处时满足关节角与速度约束且速度可控,当关节在角度极限附近处完全停止,引入推动矩阵使其在更安全的范围内运动。利用七自由度冗余机械臂进行仿真,结果表明所提出的方法可以保证关节运动过程更符合角度和速度范围且速度更平稳可控。Aimed at the inverse kinematics problem of redundant manipulators with joint limits,a protective weighted least-norm method for optimizing joint speed is proposed to solve the problems of excessive joint angular velocity near the limit position caused by classic weighted least-norm method.This method made sure that when the joint was close to the angular limit,the speed of joint angle and joint angular velocity was still controllable.When the joint stopped completely near the angular limit,the push matrix was introduced to ensure the joint would move in a safe range.Simulation experiment was carried out on a 7-DOF redundant manipulator.The result shows that the proposed method is suitable for redundant manipulators inverse kinematics,the joint angle and joint angular velocity is more stable and the speed is controllable during motion process.

关 键 词：逆运动学 关节限位 冗余机械臂 保护性加权最小范数法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP3[自动化与计算机技术—控制科学与工程]