具有冗余自由度的移动操作臂逆运动学分析

Inverse Kinematics Analysis for Mobile Manipulator with Redundant DOFs

针对一类具有冗余自由度的移动操作臂,提出了一种逆运动学求解策略,它将操作臂末端的自由度在移动机器人与操作臂各关节间进行了合理分配,并根据该自由度分配方案对移动操作臂系统引入了两个约束条件,在尽量保障了操作臂末端工作空间完整性的同时,极大地方便了逆运动学的求解。最后对加入约束前后的移动操作臂工作空间大小进行了对比分析,并通过实验对所得到的逆运动学求解结果进行了验证。在实验中,利用固定在移动机器人上的CCD摄像机对目标物体进行定位,然后根据目标物体的位姿信息,通过逆运动学分析的结果控制移动操作臂实现了对目标物体的抓取操作。

An inverse kinematics analysis method is proposed for a mobile manipulator with redundant degrees of freedom （DOFs）. The DOFs of the end-effecter are assigned properly among the mobile robot DOFs and the manipulator DOFs. Based on tiffs DOFs assignment method, two restrictions are introduced for inverse kinematics analysis without bringing much change to the working space. The size of the working space is calculated, and compared with that before the imposition of the restrictions by employing a mathematical analysis. Experiment results demonstrate the performance of the results obtained by this inverse kinematics analysis. In these experiments, based on the information of the target position and orientation obtained from an on-beard CCD camera, the mobile manipulator is controlled to catch the target by utilizing the proposed inverse kinematics analysis strategy.