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一种冗余自由度机械臂逆运动学解析算法

王鹏程 沈惠平 孟庆梅 邓嘉鸣 骆敏舟

王鹏程, 沈惠平, 孟庆梅, 邓嘉鸣, 骆敏舟. 一种冗余自由度机械臂逆运动学解析算法[J]. 机械科学与技术, 2016, 35(5): 706-710. doi: 10.13433/j.cnki.1003-8728.2016.0509
引用本文: 王鹏程, 沈惠平, 孟庆梅, 邓嘉鸣, 骆敏舟. 一种冗余自由度机械臂逆运动学解析算法[J]. 机械科学与技术, 2016, 35(5): 706-710. doi: 10.13433/j.cnki.1003-8728.2016.0509
Wang Pengcheng, Shen Huiping, Meng Qingmei, Deng Jiaming, Luo Minzhou. An Analytical Algorithm of Inverse Kinematics for Manipulator With Redundancy[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(5): 706-710. doi: 10.13433/j.cnki.1003-8728.2016.0509
Citation: Wang Pengcheng, Shen Huiping, Meng Qingmei, Deng Jiaming, Luo Minzhou. An Analytical Algorithm of Inverse Kinematics for Manipulator With Redundancy[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(5): 706-710. doi: 10.13433/j.cnki.1003-8728.2016.0509

一种冗余自由度机械臂逆运动学解析算法

doi: 10.13433/j.cnki.1003-8728.2016.0509
基金项目: 

江苏省科技支撑基金项目(SBE201300846)与国家自然科学基金项目(51375062)资助

详细信息
    作者简介:

    王鹏程(1989-),硕士研究生生,研究方向为机器人、机电一体化,wpc1019091434@qq.com

    通讯作者:

    沈惠平(联系人),教授,博士生导师,博士,shp65@126.com

An Analytical Algorithm of Inverse Kinematics for Manipulator With Redundancy

  • 摘要: 针对7自由度机械臂逆运动学求解问题,在考虑了空间构型的复杂性和冗余自由度机械臂自运动流形的基础上,提出了一种逆运动学的位置解析算法,即参照"自由度模块化"的概念,进而将仿人机械臂的7自由度划分为两个4自由度的模块化单元。通过控制自由度模块化单元,将复杂的空间构型转化为平面构型,减少了计算的复杂性;同时基于"锚点"和"虚拟连杆"的概念,实现冗余自由度机械臂的位姿参数化,从而实现了机械臂逆运动学快速求解。
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出版历程
  • 收稿日期:  2014-07-11
  • 刊出日期:  2016-05-05

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