摘要
针对7自由度冗余机械臂的逆运动学提出了一种新的求封闭解的方法。保证系统实时性的前提下采用二次计算法,在梯度投影法得出优化不精确解的基础上,根据系统结构特点用固定关节法进行再次计算,最终得到一组精确的优化解。既充分利用了系统的冗余特性又大大提高了计算精度。以7自由度仿人机械手臂为例具体阐述了这种方法。从手臂末端轨迹精度方面对梯度投影法和二次计算法的仿真结果进行了比较分析,说明了二次计算法在提高末端精度方面的有效性,并通过试验证明算法可以满足一般机器人系统的实时性要求。
A valid and efficient inverse kinematic computation scheme for seven-degree-of-freedom (7-DOF) redundant manipulators is proposed. The scheme uses two-phase calculations: one is the gradient projection method for optimization; the other is the fixed joint-angle method for increasing the precision. A group of optimized solution can be obtained from the proposed algorithm. Implementation of the scheme on a 7-DOF manipulator is described. Comparisons are made with respect to precision in calculation between the gradient projection optimization method and the two-phase calculations. Computational time is test in the PCM-3350 controller, and it demonstrates the proposed algorithm is well suited for real-time implementation.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2005年第6期71-75,共5页
Journal of Mechanical Engineering
基金
国家863高科技基金资助项目(2001AA22170)。
关键词
二次计算
冗余度机械手
逆运动学
雅可比矩阵
Two-phase calculations Redundant manipulator Inverse kinematics Jacobian
