杨明明, 陈伟海, 于守谦, 武桢. 基于Paden-Kahan子问题的冗余度机器人运动学求解[J]. 机器人, 2004, 26(3): 250-255.
引用本文: 杨明明, 陈伟海, 于守谦, 武桢. 基于Paden-Kahan子问题的冗余度机器人运动学求解[J]. 机器人, 2004, 26(3): 250-255.
YANG Ming-ming, CHEN Wei-hai, YU Shou-qian, WU Zhen. Kinematic Solutions for Redundant Robot Based on Paden-Kahan Subproblems[J]. ROBOT, 2004, 26(3): 250-255.
Citation: YANG Ming-ming, CHEN Wei-hai, YU Shou-qian, WU Zhen. Kinematic Solutions for Redundant Robot Based on Paden-Kahan Subproblems[J]. ROBOT, 2004, 26(3): 250-255.

基于Paden-Kahan子问题的冗余度机器人运动学求解

Kinematic Solutions for Redundant Robot Based on Paden-Kahan Subproblems

  • 摘要: 针对7DOF机器人的逆运动学求解问题,提出了一种可提高运动控制精度的混合算法.这种算法使用旋量理论来描述机器人的运动.它首先求出对运动学性能指标进行优化的速度级逆解;然后固定一个特殊关节,将问题转化为非冗余度机器人的运动控制,应用PadenKahan子问题法得到逆运动学封闭解.通过仿真实例,证实了这种混合算法的有效性.

     

    Abstract: This paper deals with the inverse kinematic solutions of a 7-DOF redundant robot. A hybrid algorithm that can improve the control precision is proposed. This algorithm uses screw theory to describe the motion of the robot. Firstly it finds the joint rate solution through optimizing kinematic performance criterion. Then a special joint is fixed to transform the problem into kinematic control of a non-redundant robot, by using Paden-Kahan subproblems, other joint angles are solved. The effectiveness of the proposed algorithm has been verified by a simulation of a 7-DOF robot.

     

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