摘要
针对7自由度机械臂逆运动学求解问题,在考虑了空间构型的复杂性和冗余自由度机械臂自运动流形的基础上,提出了一种逆运动学的位置解析算法,即参照"自由度模块化"的概念,进而将仿人机械臂的7自由度划分为两个4自由度的模块化单元。通过控制自由度模块化单元,将复杂的空间构型转化为平面构型,减少了计算的复杂性;同时基于"锚点"和"虚拟连杆"的概念,实现冗余自由度机械臂的位姿参数化,从而实现了机械臂逆运动学快速求解。
The solution of position is analyzed for the mechanical arm with seven degrees of freedom in this article.Based on the complexity of space configuration and self-motion,seven degrees of freedom will be modular and then divided into two four degrees of freedom modular units.By analyzing the modular units,the complex space configuration will be put into planar configurations,which reduces the computation.The concepts of ＂anchor point＂and ＂imagine link＂which make the posture parameterized are introduced.An analytical method for the inverse kinematics of the redundant robot is proposed with ＂anchor point＂and ＂imagine link＂.
出处
《机械科学与技术》
CSCD
北大核心
2016年第5期706-710,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
江苏省科技支撑基金项目(SBE201300846)
国家自然科学基金项目(51375062)资助
关键词
冗余自由度
机械臂
模块化
逆运动学
inverse kinematics
mechanical arm
modular
redundant freedom
