七自由度机械臂运动学分析

doi:10.16731/j.cnki.1671-3133.2017.08.005

现代制造工程 ›› 2017, Vol. 443 ›› Issue (8): 29-33.doi: 10.16731/j.cnki.1671-3133.2017.08.005

七自由度机械臂运动学分析

高涵¹, 张明路¹, 张小俊¹, 高柏军², 黄晓辰¹

1 河北工业大学机械工程学院,天津 300130;
2 河北工业大学科技园管理中心,天津 300130

收稿日期:2015-10-20 出版日期:2017-08-20 发布日期:2018-01-09
作者简介:高涵,博士研究生,主要研究方向为移动机械臂运动学及轨迹规划。张明路,教授,博士研究生导师。张小俊,教授。高柏军,高级工程师。黄晓辰,博士,主要研究方向为移动机械臂控制。E-mail:g401416374@163.com
基金资助:
国家高技术研究发展计划(863计划)资助项目(2015AA043101)

Study on an approach to the solution of inverse kinematics for redundant manipulators

Gao Han¹, Zhang Minglu¹, Zhang Xiaojun¹, Gao Baijun², Huang Xiaochen¹

1 School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China;
2 Hebei University of Technology Science Park Management Center,Tianjin 300130,China

Received:2015-10-20 Online:2017-08-20 Published:2018-01-09

摘要/Abstract

摘要： 针对神经网络和梯度投影法求解七自由度机械臂逆运动学存在的可靠性差及累积误差等问题,充分考虑机械臂构型特点和自运动特性,提出一种几何法和解析法相结合的冗余机械臂逆运动学新方法并进行仿真验证,通过位置误差和姿态误差来衡量该方法的可行性。实验结果表明:采用该方法对机械臂逆运动学进行求解,机械臂末端位置最大误差不超过0.015mm,平均运行时间为0.455ms,满足实时控制要求,为具有横滚转动副机械臂关节角度求解提供了一种新的思路。

关键词: 冗余机械臂, 逆运动学, 几何法, 解析法

Abstract: Aiming at the problems that solving inverse kinematics for seven degree-of-freedom manipulator has inferior reliability and cumulative error by using neural network and gradient projection method.Fully considered the characteristics of arm configuration and its self-motion,a new algorithm combined with geometry and analysis are proposed for solving redundant manipulator inverse kinematics and do some simulation verification.Position and orientation error weigh up this method feasibility.The simulation result shows that the maximum end error of manipulator position is less than 0.015mm and mean run time is 0.455ms by using this way.It is satisfied with online control requirement.It can provide a new idea for solving the manipulator inverse kinematics with rotate joint angle.

Key words: redundant manipulator, inverse kinematics, geometry algorithm, analytical algorithm

中图分类号:

TP241.2

高涵, 张明路, 张小俊, 高柏军, 黄晓辰. 七自由度机械臂运动学分析[J]. 现代制造工程, 2017, 443(8): 29-33.

Gao Han, Zhang Minglu, Zhang Xiaojun, Gao Baijun, Huang Xiaochen. Study on an approach to the solution of inverse kinematics for redundant manipulators[J]. Modern Manufacturing Engineering, 2017, 443(8): 29-33.

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七自由度机械臂运动学分析

Study on an approach to the solution of inverse kinematics for redundant manipulators

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