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

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

1.
常州大学机械工程学院, 常州 213016;
2.
中国科学院合肥物质科学研究院先进制造技术研究所, 常州 213164

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

计量
- 文章访问数: 251
- HTML全文浏览量: 58
- PDF下载量: 21
- 被引次数: 0
出版历程
- 收稿日期: 2014-07-11
- 刊出日期: 2016-05-05

An Analytical Algorithm of Inverse Kinematics for Manipulator With Redundancy

1.
Shool of Mechanical Engineering, Changzhou University, Changzhou 213016, China;
2.
Changzhou Institution of the Advanced Manufacture, Changzhou 213164, China

摘要

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。
- 冗余自由度 /
- 机械臂 /
- 模块化 /
- 逆运动学
Abstract: The solution of position is analyzed for the mechanical arm with seven degrees of freedom in this article. Based on the complexity of space configuration and self-motion, seven degrees of freedom will be modular and then divided into two four degrees of freedom modular units. By analyzing the modular units, the complex space configuration will be put into planar configurations, which reduces the computation. The concepts of "anchor point" and "imagine link" which make the posture parameterized are introduced. An analytical method for the inverse kinematics of the redundant robot is proposed with "anchor point" and "imagine link".
- inverse kinematics /
- mechanical arm /
- modular /
- redundant freedom

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参考文献(16)

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