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PDF(2065 KB)
PDF(2065 KB)
针对关节限位优化的7自由度机械臂逆运动学解法
)Inverse kinematic optimization for 7-DoF serial manipulators with joint limits
)为解决机械臂运行过程中避让关节限位的问题，该文以S-R-S构型的7自由度机械臂为对象，提出了一种机械臂逆运动学优化算法。首先，引入臂角变量，推导得到含臂角变量的逆运动学封闭解，并在此基础上，将关节限位和臂角可行范围进行映射；其次，定义一种包含权重函数的避限位优化目标函数，其中权重函数取值与关节实际位置有关；最后，通过线性展开方法简化臂角与关节位置的关系式，从而将原有复杂形式的优化目标函数简化为二次函数，结合求得的臂角可行范围完成优化求解，实现关节避限位。计算结果表明：该算法可以有效避让关节限位，且直观、简单、运算效率较高，可以进行实时运算。
An optimized inverse kinematic algorithm was developed for 7 degrees of freedom (7-DoF) manipulators with an S-R-S kinematic structure that avoids joint limits. The first step determines the closed-form solution of the inverse kinematics model based on the arm angle parameter. The result is then used to determine feasible arm angle intervals for the given joint limits. Then, an optimal weighted target function is defined to avoid the joint limits with the weights determined according to the joint positions. The relations between the joint angles and the arm angles are then linearized to simplify the complex optimal target function to a quadratic function. The optimization problem that includes the feasible arm angle intervals then avoids the joint limit. This intuitive, efficient algorithm is effective, avoids the joint limits and can be computed online.
redundant manipulator / inverse kinematics / joint limit avoidance / 7-DoF
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