多种构型正逆运动学统一求解方法研究

Research on the Unified Solution Method of the Multi Configuration Forward and Inverse Kinematics

改良新型旋转液压伺服关节,设计了基于此关节的回转及摆动模块,为了便于分析,由这两种模块组成六自由度旋转液压伺服机器人构型,并针对六自由度旋转液压伺服机器人多种构型正逆运动学统一求解难,利用局部指数积方法和遗传算法相结合建立六自由度旋转液压伺服机器人多种构型正逆运动学统一求解方法,绘出适应度函数、最优末端位置和姿态差函数曲线图,并列出数据和表格,证明此种方法对六自由度旋转液压伺服机器人多种构型正逆运动学统一求解具有可行性,同时能为其他可重构模块化机器人提供借鉴。

The new type of rotating hydraulic servo joint was modified, the rotary and swing module based on this joint were designed. In order to facilitate the analysis, by the two modules composed of six degree of freedom hydraulic rotary servo robot configurations, and for the six degrees of freedom rotating hydraulic servo robot multiple configurations were inverse kinematics unified for problem solving, a unified solution of multiple configurations of the 6-DOF rotary hydraulic servo robot was established which was based on the local exponential product method and genetic algorithm The adaptive degree function, optimal terminal position and attitude difference function curves were drawn, the data and the form were listed, and they all proved that this method was feasible to solve the inverse kinematics problem of 6-DOF rotary hydraulic servo robot. It can provide reference for other reconfigurable modular robots.