基于旋量理论的三指机器人灵巧手逆运动学分析

Inverse Kinematics Analyses of 3-finger Robot Dexterous Hand Based on Screw Theory

为提高三指机器人灵巧手逆运动学的求解效率,提出了基于旋量理论的逆运动学新的求解算法。以Shadow三指灵巧手为例,在无法直接利用单纯的Paden-Kahan子问题求解逆运动学的条件下,食指(无名指)的逆解采用Paden-Kahan子问题与代数解相结合的算法,拇指的逆解采用数值法与Paden-Kahan子问题相结合的算法。最后通过计算实例证明了算法的有效性和可行性。该算法在保证精度的前提下,几何意义明显,耗费时间短,效率高。

A novel inverse kinematics algorithm was proposed based on screw theory in order to improve operation efficiency of inverse kinematics for 3-finger robot dexterous hand.Taking Shadow3-finger robot dexterous hand as an example,because inverse kinematics might not be solved directly by Paden-Kahan sub problem,an inverse solution of index finger（ring finger）was combined with algebraic solution and Paden-Kahan sub problem.The inverse solution of thumb was combined with numerical method and Paden-Kahan sub problem.Finally,validity and feasibility of the algorithms were proved by an example.Under the premise of ensuring accuracy,the algorithms have obvious geometric meaning,less computation,and high efficiency.