利用增广雅克比矩阵的冗余机械臂逆运动学求解算法
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TP242

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山东省重大科技创新工程项目


Inverse Kinematics Solution Algorithm for Redundant Manipulators Utilizing the Extended Jacobian Matrix
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    摘要:

    针对冗余机械臂逆运动学问题,本文提出了一种利用增广雅可比矩阵的逆运动学求解算法。首先,将优化给定的目标函数作为约束任务对机械臂的任务空间进行增广,在此基础上构造增广雅克比矩阵。然后采用分解计算策略将增广部分分解,分别计算后,得到其数值结果。进而利用增广雅可比矩阵计算出关节速度,对其积分后获得关节位置。最后,将本文方法应用于七自由度冗余机械臂,仿真和实验结果表明,本文方法的求解效果优于梯度投影法,计算效率满足实时控制的要求,且能够保证机械臂追踪封闭轨迹时运动的可重复性。

    Abstract:

    An inverse kinematics solution algorithm is proposed for the inverse kinematics of the redundant manipulators. First, optimizing a given objective function is used as a constraint task to augment the task space of the manipulator. On this basis, the Extended Jacobian Matrix is constructed. Then the decomposition strategy is proposed. The augmented part is decomposed and calculated to get the numerical result. Hence, the joint velocity is calculated utilizing the extended Jacobian matrix and the joint position can be obtained by integrating the velocity. Finally, the proposed method is applied to the 7-DOF (degree of freedom) redundant manipulator. Simulation and experiment results show that the proposed method is better than the Gradient Projection method and the computation efficiency meet the requirement for the real-time control. What’s more, the repeatability is guaranteed when the redundant manipulator tracks the closed trajectory.

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王腾,张承瑞,陈齐志,等. 利用增广雅克比矩阵的冗余机械臂逆运动学求解算法[J]. 科学技术与工程, 2021, 21(16): 6752-6757.
Wang Teng, Zhang Chengrui, Chen Qizhi, et al. Inverse Kinematics Solution Algorithm for Redundant Manipulators Utilizing the Extended Jacobian Matrix[J]. Science Technology and Engineering,2021,21(16):6752-6757.

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  • 收稿日期:2021-01-25
  • 最后修改日期:2021-04-01
  • 录用日期:2021-02-21
  • 在线发布日期: 2021-06-21
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