MOTOMAN机器人逆运动学新分析

A new solution for inverse kinematics problems of MOTOMAN robot

摘要:

为解决机器人逆解过程中存在解被丢失、大量矩阵逆乘、多组解的问题,提出了一种新的推导MO-TOMAN机器人逆运动学的方法.在解的推导过程中,采用双变量正切函数避免了解被丢失的可能性,回避了大量的逆矩阵相乘,简化了求解过程,大大减少了计算量,针对有多阻逆解的情况,采用"最短行程"准则,选取一组最接近于当前操作臂的解.研究成果已在深圳市元创兴科技有限公司自主研发的六自由度工业机器人中得到成功应用.实际应用结果表明本文研究的方法是正确的.

Abstract:

In order to solve the problem of losing solution,a lot of multiplications of inverse matrices and a lot of solutions in the solution process of inverse kinematics of robot,a new inferential method for inverse kinematics of MOTOMAN manipulators is presented.The dual variable tangent function is used to avoid losing solutions in the process of deduction.The method avoids a lot of multiplications of inverse matrices,simplifies the solving process and reduces the computations.Additionally,the shortest distance rule is presented to choose a solution closest to the current manipulator for a number of inverse kinematics solutions.The research resuts have been applied successfully in a 6-DOF robot,which proves that the presented method is correct.