一种七自由度番茄收获机械手的逆运动学研究

Research on inverse kinematics of a 7—DOF tomato harvesting manipulator

以一种七自由度冗余度番茄收获机械手为研究对象,采用基于代数法和几何法相结合的分析方法和梯度投影法,进行位置层面和速度层面上逆运动学分析与仿真试验,并对比正、逆运动学位姿求解误差。结果表明,本文采用代数法和几何法相结合方法与梯度投影法,获得机械手各关节运动变量与末端执行器位姿的关系模型;机械手速度层面运动学正解和逆解误差均较小,分别为8.27e-13 m和9e-11 m。因此仿真试验结果验证了该算法理论的有效性。

In this paper, the inverse kinematic analysis a simulation on the position and speed for a 7--DOF tomato harvesting manipu- lator has been conducted by methods of the combination algorithm with algebraic and geometric method and the gradient projection method. Also we have compared the pose solution errors of positive and inverse kinematics. The results show that the relation model of the manipulator joint values and the end-effector pose can be obtained by the algorithm applied in this paper. Moreover, the position error in the aspect of position and velocity are 8.27e^- 13m and 9e ^-11 m respectively, which can satisfied the picking requirements of the manipulator, therefore the simulation results verified the validity of the above algorithms.