超冗余全方位移动操作臂的逆运动学求解

Inverse kinematics solution for a hyper-redundant omni-directional mobile manipulator

摘要:

针对超冗余度机器人的运动学逆解求解快速性与优化性难以兼顾的问题,对于一类9自由度超冗余全方位移动操作臂,提出一种关节等效和局部优化相结合的逆运动学求解方法.分析系统结构特点,在位姿分离的基础上对不同自由度合理分组.根据手爪的抓取姿态求得腕点位置,并以关节角运动幅度最小为目标函数,将决定腕点高度的两个关节的优化求解转化为二元函数的条件极值问题,在快速准确求解的同时有效利用了系统的冗余特性.仿真实验表明,该方法能够兼顾实时性、准确性和优化性的要求.

Abstract:

To achieve the rapid and optimal solution of the inverse kinematics of hyper-redundant robot,an inverse kinematics analysis method based on joints equivalent and partial optimization is proposed for a hyper-redundant omni-directional mobile manipulator with 9 degrees of freedom.According to the features of system structure,degrees of freedom are divided reasonably on the basis of separating position and posture.The position of wrist is obtained from the posture of end-effector and the minimal movement of the joints is taken as objective function,then the two-joint optimization problem which determines the height of wrist is converted to the problem of conditional extreme for 2-variable function.By this way,the redundancy of the system is effectively used while solving the problem quickly and precisely.The simulation shows that this method can satisfy the requirements of real time,accuracy and optimization.