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机器人拟人手臂要实现确定运动,完成预定任务,必须对其运动学逆解问题进行研究,以得到各输入关节变量值。首先,针对一种五自由度机器人拟人手臂的正向运动学分析结果,对其逆运动学问题进行求解,并将其转化为非线性方程组的求解问题。随后,考虑到方程组的复杂性,将其求解转化为全局优化问题,并提出一种比较简单实用的遍历迭代算法对该方程组进行求解。最后通过实例分析,验证了利用该方法进行逆运动学求解的可行性与有效性,为后续的机器人控制及其功能的实现提供了理论依据。
Robot arm to achieve certain tasks to achieve human motion, to complete the scheduled task, its kinematic inverse problem must be studied to get the value of each input joint variables. First of all, aiming at the results of forward kinematics analysis of a 5-DOF robot’s artificial arm, its inverse kinematics problem is solved and transformed into the problem of solving nonlinear equations. Then, considering the complexity of the system of equations, the solution is transformed into a global optimization problem, and a simple and practical traversal iterative algorithm is proposed to solve the system. Finally, an example is given to verify the feasibility and validity of the inverse kinematics solution by this method, which provides a theoretical basis for the subsequent robot control and its function realization.