冗余机械臂运动学建模与轨迹规划分析

Kinematics Modeling and Trajectory Planning for a Redundant Manipulator

针对七自由度冗余机械臂运动规划问题,提出了一种改进的运动学建模方法和轨迹规划方法。首先,通过改进的DH参数法建立冗余机械臂的正向运动学模型,描述从关节空间到笛卡儿空间的变换。然后,提出加权最小二乘法建立冗余机械臂的逆向运动学模型,快速求解笛卡儿空间到关节空间的变换。接着,利用五阶多项式插值函数对冗余机械臂进行关节空间轨迹规划,提高机械臂运动的平坦性。最后,在仿真中验证了本文所提方法的有效性,结果表明该方法能够有效解决冗余机械臂的运动规划问题,具有一定的实际应用参考价值。

An improved kinematic modeling method and trajectory planning method are proposed for the 7-DOF redundant robotic arm motion planning problem.First,the forward kinematic model of the redundant robotic arm is established by the improved DH parameter method,which describes the transformation from joint space to Cartesian space.Then,the weighted least squares method is proposed to establish the inverse kinematic model of the redundant robotic arm to quickly solve the transformation from Cartesian space to joint space.Meanwhile,the fifth-order polynomial interpolation function is utilized to plan the joint space trajectory of the redundant robotic arm to improve the flatness of the robotic arm motion.Finally,the effectiveness of the method proposed in this paper is verified in simulation,and the results show that the method can effectively solve the motion planning problem of the redundant robotic arm,which has certain reference value for practical application.