引用本文: 阳方平, 李洪谊, 王越超, 陈鹏, 王雪竹. 一种求解冗余机械臂逆运动学的优化方法[J]. 机器人, 2012, 34(1): 17-21,31.
YANG Fangping, LI Hongyi, WANG Yuechao, CHEN Peng, WANG Xuezhu. An Optimization Method for Solving the Inverse Kinematics of Redundant Manipulator[J]. ROBOT, 2012, 34(1): 17-21,31.
 Citation: YANG Fangping, LI Hongyi, WANG Yuechao, CHEN Peng, WANG Xuezhu. An Optimization Method for Solving the Inverse Kinematics of Redundant Manipulator[J]. ROBOT, 2012, 34(1): 17-21,31.

## An Optimization Method for Solving the Inverse Kinematics of Redundant Manipulator

• 摘要: 基于加权最小范数法，推导出一种避免计算雅可比矩阵伪逆的优化方法．首先对加权雅可比矩阵的6维非奇异子矩阵求逆，得到逆运动学的特解和齐次解．然后用特解减去齐次解沿特解方向的分量得到运动学逆解．通过一个7自由度冗余机械臂的算例和仿真证明了方法在保证求解精度、降低求解难度以及避免关节极限方面的有效性．

Abstract: Based on the weighted least-norm(WLN) solution,an optimization method that avoids calculating the pseu-doinverse of Jacobian matrixes is presented.Firstly,the inverse of the nonsingular 6x6 submatrix of the Jacobian is calculated to determine particular and homogeneous solutions of the inverse kinematics.Then,the solution of the inverse kinematics is obtained by subtracting the homogeneous solution's component in the direction of the particular solution from the particular solution.An illustrative example and simulation on a seven degree-of-freedom redundant manipulator are taken to verify the effectiveness of the method in reducing the solving difficulty,ensuring the accuracy of solution,and avoiding the joint limits.

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