摘要
针对 7DOF机器人的逆运动学求解问题 ,提出了一种可提高运动控制精度的混合算法 .这种算法使用旋量理论来描述机器人的运动 .它首先求出对运动学性能指标进行优化的速度级逆解 ;然后固定一个特殊关节 ,将问题转化为非冗余度机器人的运动控制 ,应用Paden Kahan子问题法得到逆运动学封闭解 .通过仿真实例 。
This paper deals with the inverse kinematic solutions of a 7-DOF redundant robot. A hybrid algorithm that can improve the control precision is proposed. This algorithm uses screw theory to describe the motion of the robot. Firstly it finds the joint rate solution through optimizing kinematic performance criterion. Then a special joint is fixed to transform the problem into kinematic control of a non-redundant robot, by using Paden-Kahan subproblems, other joint angles are solved. The effectiveness of the proposed algorithm has been verified by a simulation of a 7-DOF robot.
出处
《机器人》
EI
CSCD
北大核心
2004年第3期250-255,共6页
Robot
基金
国家 8 63计划资助项目 (2 0 0 2AA42 1 1 60 )
