一种仿人机械臂的运动学逆解的几何求解方法

A Geometrical Method for Inverse Kinematics of a Kind of Humanoid Manipulator

摘要: 运用几何方法求解一种具有7个旋转自由度的仿人机械臂的运动学逆解,并运用特定的寻优指标,搜索与指定末端位姿对应的关节角空间最优解. 这种解法没有理论误差并且解算速度足够快,有利于在线实时控制机械臂的运动.

Abstract: The inverse kinematics problem of a kind of humanoid manipulator with 7 rotating DOFs (degrees of freedom) is solved with a geometrical method, and the best solution in the space of the joint angles corresponding to the end-effector's given position and posture is searched with specific optimizing index. This method has no theoretical error but a sufficiently fast solving speed. It is propitious for the online real-time kinetic control of the manipulator.