基于最小运动变换的臂角参数化冗余机械臂逆运动学求解方法

doi:10.3901/JME.2023.15.040

机械工程学报 ›› 2023, Vol. 59 ›› Issue (15): 40-49.doi: 10.3901/JME.2023.15.040

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基于最小运动变换的臂角参数化冗余机械臂逆运动学求解方法

钟献有, 王鹤霖, 刘成菊, 陈启军

同济大学电子与信息工程学院上海 201804

收稿日期:2022-10-20 修回日期:2023-02-03 出版日期:2023-08-05 发布日期:2023-09-27
通讯作者: 陈启军(通信作者),男,1966年出生,教授,博士研究生导师。主要研究方向为机器人控制与智能控制。E-mail:qjchen@tongji.edu.cn
作者简介:钟献有,男,1995年出生,博士研究生。主要研究方向为机器人运动学、运动规划和示教学习。E-mail:zhongxianyou@tongji.edu.cn
基金资助:
国家自然科学基金资助项目(62073245)

Inverse Kinematics Resolution Method for Arm Angle Parameterized Redundant Robotic Arm Based on Minimum Motion Transformation

ZHONG Xianyou, WANG Helin, LIU Chengju, CHEN Qijun

College of Electronics and Information Engineering, Tongji University, Shanghai 201804

Received:2022-10-20 Revised:2023-02-03 Online:2023-08-05 Published:2023-09-27

摘要/Abstract

摘要： 传统臂型角参数化方法在求解七轴冗余机械臂的逆运动学问题上存在算法奇异问题,一般采用奇异情况特殊处理或者增加冗余参数的方式解决。针对这一问题,提出了一种新型的逆运动学求解算法,该方法基于最小运动变换模型来重新定义臂型角参数。在给定待求解的目标构型的前提下,定义七轴机械臂的基准构型,建立从基准构型到目标构型的二阶段最小运动变换模型。根据基准角运动和臂角自运动的两个阶段运动模型,求解参考臂平面和特定臂角参数对应的肩、肘、腕部关节点的位置。根据几何关系求解各关节角度关于臂角参数的解析公式。通过逆解仿真实验对该算法进行了验证,结果表明该算法在求解精度、计算效率、算法稳定性等指标上具有良好结果,证明了该算法的有效性。

关键词: 冗余机械臂, 逆运动学, 臂型角参数化, 最小运动变换模型

Abstract: The traditional arm angle parameterization method has the problem of algorithm singularity in solving the inverse kinematics problem of a seven-axis redundant robotic arm, which is generally solved by special treatment of singular cases or adding redundant parameters. To solve this problem, a novel inverse kinematics solution algorithm is proposed, which redefines the arm angle parameters based on the minimum motion transformation model. Given the target configuration to be solved, the reference configuration of the seven-axis robotic arm is defined, and a two-stage minimum motion transformation model from the reference configuration to the target configuration is established. According to the two-stage motion transformation model of reference-angle motion and arm angle self-motion, the position of the shoulder, elbow, and wrist joint points corresponding to the reference arm plane and specific arm angle parameter is solved. The analytical formula of each joint angle concerning the arm angle parameter is solved according to the geometric relationship. The inverse simulation experiment verifies the algorithm, and the results show that the algorithm has good results in solving accuracy, calculation efficiency, and algorithm stability, which proves the effectiveness of the algorithm.

Key words: redundant manipulator, inverse kinematics, arm angle parameterized method, minimum motion transformation model

中图分类号:

TP242

钟献有, 王鹤霖, 刘成菊, 陈启军. 基于最小运动变换的臂角参数化冗余机械臂逆运动学求解方法[J]. 机械工程学报, 2023, 59(15): 40-49.

ZHONG Xianyou, WANG Helin, LIU Chengju, CHEN Qijun. Inverse Kinematics Resolution Method for Arm Angle Parameterized Redundant Robotic Arm Based on Minimum Motion Transformation[J]. Journal of Mechanical Engineering, 2023, 59(15): 40-49.

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基于最小运动变换的臂角参数化冗余机械臂逆运动学求解方法

Inverse Kinematics Resolution Method for Arm Angle Parameterized Redundant Robotic Arm Based on Minimum Motion Transformation

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