七自由度仿人手臂双臂一体机器人协调运动学研究

双臂避碰、单臂内回避奇异及关节极限是仿人手臂双臂协调主作业实现的首要条件。由于双臂协调和单臂运动是相关且并行的，所以，提出用对单臂运动学逆解进行修正的方法来得到双臂协调运动学逆解。通过对双臂上任意臂杆避碰的分析，提出了相碰检验条件及避碰附加作业模型，并利用冗余自由度和Ｊａｃｏｂａｎ矩阵的零空间分解得到了双臂避碰附加作业闻解，最后用此逆解修正单臂运动 。本方法对空间机器人双臂手、ｎ－Ｄ．Ｏ．Ｆ臂双臂

Coordinated kinematics of double 7 D.O.F bionics arms

The avoided collisoion between double arms, the dodge singular in single arm and the joint limit, all of them are the most important conditions for bionics arm to realize coordinated chief task between double arms. Based on interrelation and incorporation between double arms coordination and single arm motion, it revised the kinematics inverse solution of single arm to reach one of double arms coordination. By the analysis of arbitrary arm links of double arms, this article suggested the model of collision check factor and avoided collision added task. Also the added task inverse solution of avoided collision was drawn between double arms from redundant D.O.F and Jacobian matrix zero space. At last the above mentioned method is of a universal theoretical significance for the space robot arms and the n D.O.F arms to research the corrdinated motion of the double arms.