• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2015, Vol. 51 ›› Issue (17): 8-14.doi: 10.3901/JME.2015.17.008

• 机构学及机器人 • 上一篇    下一篇

基于工作空间密度函数的平面冗余机器人的逆运动学求解算法

东辉,杜志江   

  1. 哈尔滨工业大学机器人技术与系统国家重点实验室
  • 出版日期:2015-09-05 发布日期:2015-09-05
  • 基金资助:
    国家自然科学基金资助项目(61175078)

Inverse Kinematics of Planar Redundant Manipulators Based on Workspace Density Function

DONG Hui; DU Zhijiang   

  1. State Key Laboratory of Robotics and System, Harbin Institute of Technology
  • Online:2015-09-05 Published:2015-09-05

摘要: 利用平面冗余机械人的结构参数结合傅里叶变换及卷积定理来构建非线性工作空间密度函数,并用该函数来描述多冗余机器人的工作空间。将工作空间密度函数仿真获得的工作空间与蒙特洛法求得的机器人工作空间进行对比,验证了算法的有效性。以工作空间密度函数为迭代方程,提出一种全新的迭代的算法来求解机器人逆运动学解析解。将该迭代算法与雅可比伪逆矩阵求逆运动学解的迭代算法进行对比,Matlab仿真结果验证了该算法在平面多冗余机械臂逆运动学求解精度及末端执行器位姿确定方面具有优越性。

关键词: 工作空间, 卷积定理, 逆运动学, 平面冗余机器人

Abstract: By combining the structural parameters of the planar redundant robot with Fourier transform and convolution theorem, a nonlinear working space density function is set up to describe the working space of the robot. The simulation results based on the working space density function are compared with data by Monte Carlo method to verify this approach. Taken the density function as the iterative equation, a completely innovative iterative algorithm is presented for acquiring the inverse kinematics analytic solution. Additionally, the solution by the presented algorithm and the pseudo-inverse matrix inverse kinematics solution by the Jacobi iteration algorithm are assessed. Consequently, the improved performance of planar redundant manipulator inverse kinematic analysis and the end executor posture determination by this approach are demonstrated in the Matlab simulations.

Key words: convolution theorem, inverse kinematics, redundant manipulators, workspace

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