一种运动旋量逆解子问题的求解及其应用

Solution for One Type of Inverse Kinematics Sub-problem in Screw Theory and Its Application

摘要: 旋量理论在机器人运动学逆解过程中将运动方程分解为若干子问题，目前常见的子问题组合并不能完成所有机器人的逆解问题．本文提出了在机器人逆解过程中会遇到的另一种子问题的解法，并给出构造该子问题的限定条件．运用该解法，给出具有RTS运动链并联机器人的运动学逆解方法，并归纳出利用未知量组中对参考点起相同作用的旋量组合来简化计算的方法．该子问题的解决扩充、便利了旋量理论在机器人运动学逆解中的应用．

Abstract: In order to solve the robot inverse kinematics in screw theory,the motion equation is usually divided into several sub-problems.At present,the combination of ordinary sub-problem can't achieve the inverse kinematics of all type of robots.A new type of sub-problem is proposed in this paper,and its solution and constraint conditions are given.In addition,its application in parallel robots with RTS chain is demonstrated to verify its feasibility.Finally,a method using the combination of the motion screws with the same effect on the reference point is obtained to simplify robot inverse kinematics.