优化技术在求解机器人操作手IKP中的应用

Solution for Inverse Kinematic Problems of Robot Manipulators Using the Optimization Technique

对于机器人操作手ＩＫＰ求解的问题，提出了利用消元及变量分离技术，将问题简化为仅含部分关节变量的优化问题。对多解的ＩＫＰ，在建立优化模型时，既考虑末端执行器给定的位姿要求，亦充分考虑关节空间、工作环境等因素的约束，从而求得问题的确定解，对于障碍碰撞的判别与躲避，提出了交点控制策略。

The solution of IKP of manipulators using the optimization technique is discussed.It issimplified to one that only involves part of the joint variables using the elimination methodand separation of variables,For IKP with many solutions,the objective funciton is to mini-mize the movements of links。The constraints are defined according to the following factors :(1)satisfying the orientation and position requirements of the end-effector;(2 )guaranteeinga definite solution for the joint space and(3)avoiding obstacles,The intersecting point con-trol strategy is used to avoid obstacles。Two examples are given for illustration。