Zynq软硬件平台的仿人机器人逆运动学求解系统

Inverse Kinematics of Robot Based on Zynq Platform

仿人机器人的手臂模仿人体手臂设计,灵活性很好,能胜任更加复杂的工作,但是其机械结构与传统工业机器人有较大区别,进行逆运动学求解时会遇到复杂的非线性方程组求解问题,这导致不管是用解析法还是迭代法都会因为复杂的运算而导致速度下降,精度降低,不能满足嵌入式系统的控制要求。机器人的几何结构可以提供更加直接的信息,几何法与解析法的结合成为解决这一问题的有效方法之一。而在嵌入式平台中,采用软硬件协同设计则能够进一步提高控制实时性以及系统可扩展性。

The arm of humanoid robot is designed to mimic the human body,which gives it good flexibility and capable of more complex work. However,its mechanical structure is quite different from the industrial robot, solving nonlinear equations will be a problem when dealing with the inverse kinematics. It will reduce the computing speed and bring worse accuracy, and makes it more difficult to be applied in the embedded system. While its geometric properties may give more effective information, the combination of geometric and closed- form method provides a good way to solve the problem. Besides, the software and hardware co-design method can further improve the real-time control and scalability.