构形平面方法求解冗余机械臂逆运动学

Solving inverse kinematics for redundant manipulator using configuration plane method

由于冗余机械臂存在冗余自由度,导致其逆运动学求解方法复杂。本文依据构形平面的基本理论,提出了一种快速、简洁的冗余机械臂逆运动学求解方法。首先对冗余机械臂的结构进行分析,将冗余机械臂分解成若干个构形平面。然后,采用构形平面匹配方法,将该机械臂工作构形进行位置和姿态匹配,同时采用半解析的方式求得逆运动学解。最后,对7自由度冗余机械臂进行仿真计算,实验结果验证了该方法求解精度高、求解速度快,而且避免产生奇异值。

Due to the redundancies in the redundant manipulator, its inverse kinematics solution is complex. In this paper, based on the basic configuration plane theory, we propose a method for generating a rapid and concise solu-tion to the inverse kinematics of the redundant manipulator. First, we analyzed the structure of the redundant ma-nipulator and decomposed it into several configuration planes. Then, using the configuration plane matching method to match the position and orientation of the manipulator’ s working configuration, we obtained the semi-analytic in-verse kinematics solution. Finally, based on the results from a numerical simulation experiment for a 7-DOF redun-dant manipulator, we verified that the proposed method is fast, generates a highly precise solution, and avoids sin-gular values.