关键词: 二次计算, 逆运动学, 冗余度机械手, 雅可比矩阵

Abstract: A valid and efficient inverse kinematic computation scheme for seven-degree-of-freedom (7-DOF) redundant manipulators is proposed. The scheme uses two-phase calculations: one is the gradient projection method for optimization; the other is the fixed joint-angle method for increasing the precision. A group of optimized solution can be obtained from the proposed algorithm. Implementation of the scheme on a 7-DOF manipu-lator is described. Comparisons are made with respect to preci-sion in calculation between the gradient projection optimization method and the two-phase calculations. Computational time is test in the PCM-3350 controller, and it demonstrates the pro-posed algorithm is well suited for real-time implementation.

Key words: Inverse kinematics, Jacobian, Redundant manipulator, Two-phase calculations