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针对拟人机械臂中七自由度逆解的无穷解问题,提出了一种基于可操作度评价的快速求解运动学逆解的几何方法.首先分析了七自由度的构型理论上说明无穷解的原因;然后从人类手臂运动行为的角度,以机器人末端运动方向上操作度最大的原则将无穷解问题转换为确定性问题,进而利用几何解法的优势,快速求解出逆解结果;最后以安川SDA10D拟人机械臂为实验对象对算法进行验证,实验结果证明本方法具有实时性,计算结果在理论上无误差.
Aiming at the problem of infinite solution to the seven-degree-of-freedom inverse solution in the proposed manipulator, a geometrical method based on maneuverability evaluation is proposed to solve the kinematic inverse problem rapidly. Firstly, the configuration of seven degrees of freedom Then from the perspective of human arm motion, the principle of maximum degree of motion in the direction of the end of the robot transforms the infinite solution problem into a deterministic one, and then utilizes the advantage of the geometric solution method to solve the inverse solution quickly. Finally, with the Yaskawa SDA10D The humanoid manipulator is used as the experimental object to verify the algorithm. The experimental results show that the method is real-time and the calculation results are theoretically error-free.