6R机器人实时逆运动学算法研究

提出一套解决各类6R机器人逆运动学问题的实时算法. 一般算法通过矢量计算和16阶矩阵分解得到一般6R机器人的最多16组逆运动学解. 封闭解法直接提取运动学等式求出关节变量的解析解. 组合算法将封闭解法或一般算法的结果作为初始值, 采用牛顿-拉夫森方法迭代出逆运动学精确解, 适用于所有接近满足封闭解条件或一般算法条件的6R机器人. 求解实验结果表明, 整套算法最大算法时间约为2.03 ms, 为任意几何结构的6R机器人应用于强实时系统提供了逆运动学解决方案.

Research on real-time inverse kinematics algorithms for 6R robots

A set of real-time algorithms for inverse kinematics of all type of 6R robots is proposed. The general algorithm obtains 16 inverse kinematics solutions in total for general 6R robots based on vector operations and eigenvaluedecomposition of a 16 order target matrix. The closed-form algorithm selects proper kinematics equations directly and solves for the joint variables analytically. The obtained results are employed by the combined algorithm as the initial values in the iterative Newton-Raphson method for finding the exact solutions of the inverse kinematics, which can be used for 6R robots that approximately meet the requirements of the closed-form algorithm or the general algorithm. Experimental results show that the proposed set of algorithms solves the inverse kinematics problem of 6R robots with any geometry configuration in 2.03 ms, and provides effective solutions for the inverse kinematics problem of 6R robots applied in strong real-time systems.