七自由度机械臂KUKA IIWA7可达性分析

Reachability Analysis of the 7-DOF Manipulator KUKA IIWA7

机械臂的可达性描述机械臂末端到达六维工作空间的能力,了解机械臂的可达性分布,有助于更好地完成机械臂操作任务。本文对七自由度机械臂kuka-iiwa7进行可达性分析,为了计算该机械臂的可达性需预先解决两个关键问题,首先是六维工作空间划分问题,本文使用等分划分SE(3)的方法对整个六维工作空间进行划分。其次是该机械臂逆运动学求解问题,在考虑关节极限的情况下,本文提出使用关节角为冗余参数结合冗余机械臂的自运动来判断给定的机械臂的末端姿态是否存在满足关节限位的可行逆解,从而解决逆解求解问题,最后在matlab中画出了kuka-iiwa7的可达性图。

the reachability describe the ability of the robot to reach the six - dimensional workspace and knowing the teachability distribution of the robot in advance helps to complete robotic manipulator tasks. This article aim to analysis the reachability of the seven -degree- of- freedom（DOF） robot arm kuka- iiwa7. In order to calculate the teachability of this robot, two key issues need to be resolved in advance. The frist issue is how to partite the six - dimensional workspace. This paper divides the entire six - dimensional workspace by using the method of finite - partition of SE（3）. The second issue is how to slove the inverse kinematic of the redundant robot. Considering the joint limits, this paper propose using the inverse kinematic based on the joint angle as a redundant parameter combining with the self - motion of the redundant manipulator to determine whether the end pose of a given manipulator has a feasi- ble inverse solution within the joint limits. Finally, the reaehability map of the robot aml is drawn in matlab.