液压驱动的多冗余机械臂逆运动学算法

Inverse Kinematics Method for Hydraulic Driven Multiple-redundant Manipulators

液压驱动的多冗余机械臂用常规方法很难实现实时、精确的自动化控制,提出了一种基于几何理论的数值迭代算法,能快速地求解出多冗余机械臂的运动学逆解,并利用此算法对混凝土泵车的臂架系统进行了模拟仿真,仿真结果表明,此算法符合泵车臂架系统的实时自动化控制。

This paper proposed a new iteration method based on geometry to solve the inverse kinematics for hydrau- lic driven multiple-redundant manipulator that is difficult to control real-time since its degrees of freedom are multi- ple-redundant. Using the proposed method, the optimal solution can be quickly and accurately obtained from these infinite solutions. Simulation results show that the new method has a fast convergence speed and good stability. It＇s suitable for control real-time.