一种求取运动学逆解的新算法

New Algorithm for Searching Kinematic Inverse Solution

从计算机原理中位置数制的描述获得启发,将其中的某些规律进行合理的转换,形成搜索算法的步长表达式,在吸收传统登山法的优点的基础上,提出了求取多关节机械臂运动学逆解的新算法——智能登山法,并对算法进行了描述,写出了完整的通用流程图.运用该方法求取机器人运动学逆解,无需矩阵运算、三角变换;收敛速度快,适于实时控制.仿真试验验证了该方法的可行性、实用性.

In this paper,inspired from the position-numeral description in computer,the step's expression of the search algorithm was gained through reasonable conversion of some interrelated rules.Based on inheriting the advantages of traditional hill climbing,a new way to search the kinematic inverse solution of multi-joint robot-intelligent hill climbing,was put forward.Moreover,the algorithm was described,and the integrated flow chart was given.Making use of this new way,kinematic inverse solution can be gotten conveniently and fastly,furthermore,it's not necessary for matrix operation and triangular transformation.And it's suitable for real time control for its fast convergence velocity.The feasibility and practicability were verified by simulation finally.