基于UR六轴机械臂的逆运动学研究  

Research on Inverse Kinematics Based on UR Six-axis Manipulator

作　　者：韩昕凯 Han Xinkai

机构地区：[1]沈阳理工大学自动化与电气工程学院,辽宁沈阳110159

出　　处：《一重技术》2025年第1期63-66,共4页CFHI Technology

基　　金：大型煤矿井下巷道辅助作业机器人共性技术与应用示范(项目编号:2022YFB4703605)。

摘　　要：六轴机械臂在其经典逆运动学求解中存在传统解和智能算法解,传统解在奇异点无法计算,而智能算法解运算收敛慢、迭代时间长,难以满足实时性要求。对此,以UR六轴机械臂为研究对象,提出一种基于机械臂C空间建模负梯度迭代算法,首先在C空间建立数学多元函数模型,针对多元函数负梯度求解困难问题使用定义法求解,然后设计迭代步长保证迭代速度和计算精度,最后在matlab环境里仿真建模并部署算法,通过仿真实验验证及与matlab机器人工具箱传统的数值解对比证明算法有效。Classical inverse kinematics solution of six-axis manipulator can be realized by traditional method and intelligent algorithm method,but both methods are with shortages i.e.singular point can not be calculated by the traditional method,and calculation by using the intelligent algorithm can not realize real-time requirements due to slow convergence and long iteration time.Therefore,this paper takes the UR six-axis manipulator as object,and proposes a negative gradient iteration algorithm based on C-space modeling of the manipulator by firstly establish a mathematical multivariate function model in the C-space,and then adopt the definition method to deal with the negative gradient of the multivariate function which is difficult to be solved,after that,determine the iteration step size to ensure iteration speed and calculation accuracy,and finally establish the model and set up the algorithm in the matlab environment.The algorithm is proved to be effective through simulation tests and comparison with the traditional numerical solution of matlab robotics toolbox.

关 键 词：逆运动学 奇异点 迭代 负梯度 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]