六自由度机械臂运动学旋量逆解及简化算法

Kinematics Screw Inverse Solution and Simplified Algorithm of 6-DOF Manipulator

针对一种前3关节轴线交于一点的六自由度机械臂,提出一种旋量理论结合已知panden-kahan子问题的逆解方法;首先利用关节轴线交点将六自由度机械臂的逆运动学问题进行拆分,然后利用panden-kahan子问题求出前3关节、第5、6关节分别交于一点,第4关节偏移中心轴线的六自由度机械臂逆解;针对传统的旋量逆解方法过程和结果存在复杂性,提出一种旋量、几何法、欧拉角相结合的简化方法,对逆解算法进行大幅度简化。最后进行算法实例验证,结果表明该方法正确有效,算法简单,精度高,旋量逆解精度在10-13数量级,为路径规划和实时控制提供了良好的算法基础。

For the 6-DOF manipulator with the axis of the first three joints intersecting at one point,an inverse solution algorithm combining the screw theory with the known panden-kahan sub-problem is proposed;First,used the intersection point of the joint axis to split the inverse kinematics problem of the 6-DOF manipulator,and then used the panden-kahan sub-problem to solve the first three joints,the five and six joints intersect at one point,and the fourth joint is offset from the central axis by 6-DOF Manipulator Inverse Kinematics;Aiming at the complicated process and result of the traditional screw inverse method,a simplified method combining screw,geometric method and Euler angle is proposed to greatly simplify the inverse solution algorithm.Finally,an algorithm example is verified.The results show that the method is correct and effective,the algorithm is simple,the precision is high,and the inverse spin solution accuracy is within 10-13 orders of magnitude,which provides a good algorithm foundation for path planning and real-time control.