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一种七自由度冗余机械臂的逆运动学优化算法

闫文彬1,孙雷2   

  1. 1.中国人民解放军63888部队, 济源 454650;南开大学机  器人与信息自动化研究所,天津 300071; 2.南开大学机器人与信息自动化研究所,天津 300071
  • 出版日期:2015-07-25 发布日期:2015-08-28

闫文彬,孙雷. 一种七自由度冗余机械臂的逆运动学优化算法[J]. 系统科学与数学, 2015, 35(7): 823-837.

YAN Wenbin,SUN Lei. AN OPTIMIZATION METHOD FOR INVERSE KINEMATICS OF A 7-DOF REDUNDANT MANIPULATOR[J]. Journal of Systems Science and Mathematical Sciences, 2015, 35(7): 823-837.

AN OPTIMIZATION METHOD FOR INVERSE KINEMATICS OF A 7-DOF REDUNDANT MANIPULATOR

YAN Wenbin1 , SUN Lei2   

  1. 1.PLA Unit 63888, Jiyuan 454650; Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300071; 2.Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300071
  • Online:2015-07-25 Published:2015-08-28

在建立一种常见的七自由度冗余机械臂D-H模型的基础上, 结合固定关节角法和加权最小范数法, 提出了一种基于二次计算的逆运动学优化算法. 基于加权最小范数法具有回避关节极限以得到优化解的优势, 该算法一方面在牺牲一定时间复杂度的条件下进一步提高了逆运动学求解的精度, 另一方面基于迭代算法解决了雅克比伪逆不存在时加权最小范数法无法求解的问题. 通过仿真结果可以看出, 基于加权最小范数法的二次计算法在对期望轨迹的跟踪精度上有了很大提高, 并能够较好地解决雅克比伪逆不存在时的求解问题.

Based on the D-H model of a normal 7-DOF redundant manipulator, a novel two-phase calculation optimization approach is proposed in this paper by combining the fixed joint-angle method with the weighted least-norm (WLN) solution. In the new approach, the original advantage of avoiding the joint limit to get the optimized solutions in WLN is saved and the new advantage of improving the accuracy of inverse kinematics solution is developed. Moreover, one open problem in this field that Jacobi pseudo-inverse does not exist in some special situations can be solved properly based on the iteration algorithm. Simulation results clearly show that the proposed approach can achieve better tracking accuracy of desired trajectories and solve the open problem mentioned above.

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