仿人机器人冗余度双臂运动学建模与解析

Model and Analysis of Dual-Arms Redundancy Resolution Scheme for Humanoid Robot

针对人形机器人,提出一种融合左右臂广义逆的组合伪逆方法。该方法能将左右臂的雅克比矩阵广义逆统一为一个伪逆矩阵,从而方便使用传统伪逆方法或优化的伪逆方法处理双臂。首先给出人形机器人双臂的前向运动学模型、左右手臂的基于伪逆模型;然后将这2个单独模型的雅克比矩阵的广义逆统一到一个雅克比矩阵中,得到一个组合和简化的伪逆模型。仿真结果表明,该方案具有可行性和准确性。

A novel combined pseudoinverse method is proposed for motion generation of a humanoid robot. This combined pseudoinverse method considers both the left arm Jacob matrix and the fight arm Jacob matrix. It can handle the dual-arms redundancy resolution readily. Firstly, the Kinematics equations of the left and arm fights are presented. The pseudoinverse models of the left and fight arms are then presented. After that, the generalized inverse of the two separate Jacob matrixes is integrated into one Jacob matrix so that we can obtain a unified and simplified pseudoinverse model. Computer simulations and the corresponding analysis verify the effectiveness and accuracy of the proposed combined pseudoinverse method.