基于位姿分离算法的冗余机器人逆运动学分析

针对冗余机器人逆运动学求解复杂、实时性差的缺点,提出一种基于冗余机器人位姿分离的逆运动学求解算法。该算法以腕点矢量为目标,计算冗余机器人位置关节的逆解及位置关节对腕关节的误差补偿,得出腕关节逆运动学解。通过建立基于运动轨迹的逆运动学约束泛函,对冗余机器人的逆解进行了优化。得到机器人关节运动特性随约束泛函的变化曲线以及关节逆解的优化解流形。

Inverse Kinematics Analysis of Redundant Robots Based on Position and Orientation Separation Method

In order to solve the problems challenging the inverse kinematics solution of redundant robot, complex and poor real-time, an inverse kinematics algorithm based on the position and orientation separation is proposed. This algorithm was used of the wrist point vector as the target to calculate the inverse solutions of the position joint for redundant robot, and the error compensation by position joint relative to the wrist joint. And then the inverse kinematics solutions of the wrist joint were obtained.The inverse kinematics solutions of redundant robot were also optimized through the establishment of inverse kinematics constrained functions based on the moving trajectory. Finally, the relationship between the kinetic feature of joint of robot and constrained functions are obtained, so do the optimized manifolds of robot joints.