多关节机器人逆运动学问题的实时求解

中国机械工程 ›› 2010, Vol. 21 ›› Issue (10): 1143-1148.

多关节机器人逆运动学问题的实时求解

印峰;王耀南;夏汉民

湖南大学,长沙,410082

出版日期:2010-05-25 发布日期:2010-06-02
基金资助:
国家863高技术研究发展计划资助项目(2008AA04Z214)；国家科技支撑计划资助项目(2008BAF36B01)
National High-tech R&D Program of China (863 Program) （No. 2008AA04Z214）;
The National Key Technology R&D Program（No. 2008BAF36B01）

Real-time Solution of Inverse Kinematics Problem of Multi-joint Robots

Yin Feng;Wang Yaonan;Xia Hanmin

Hunan University,Changsha,410082

Online:2010-05-25 Published:2010-06-02
Supported by:

National High-tech R&D Program of China (863 Program) （No. 2008AA04Z214）;
The National Key Technology R&D Program（No. 2008BAF36B01）

摘要/Abstract

摘要：

机器人运动学方程往往呈高度非线性特性,其逆运动学计算较为复杂,实时性也难以保障。针对该问题,提出一种基于类电磁机制的逆运动学求解新方法,随机抽取问题可行域内一组初始解,仿照电磁理论中带电粒子间吸引-排斥机制,使得粒子快速收敛到问题的最优解,并结合变尺度法进一步提高求解精度。针对变尺度法中最优搜索步长难以精确计算的问题,以微搜索步长为条件,根据机器人运动微分方程推导得到变步长计算公式。最后通过算例验证了该方法的有效性。

关键词:

机器人, 逆运动学, 类电磁机制, 变尺度法

Abstract:

Due to the highly nonlinear and complex nature of the manipulator kinematic equations, the solution of the inverse problem is difficult to achieve and it

is difficult to guarantee in real-time.A new method for computing solutions to the inverse kinematics of robotic manipulators was developed herein.The proposed method was

based on an EM algorithm,by randomly sampling points from the feasible region, similar to attraction-repulsion mechanism of the electromagnetism theory,the particles rapidly converge to optimal solution.Moreover,approximate optimal solution derived by EM was used for the initial guesses value of variable metric method to search the exact solution. Nevertheless, the exact optimal step size in search is usually difficult to achieve.For this problem, approximate formulas for calculating were derived based on motion differential equation of robot when step size was sufficiently small.Finally,some examples were taken to verify the effectiveness of the algorithm.

Key words: robot, inverse kinematics, electromagnetism-like mechanism(EM), variable metric algorithm

中图分类号:

TP242

印峰, 王耀南, 夏汉民.

多关节机器人逆运动学问题的实时求解

[J]. 中国机械工程, 2010, 21(10): 1143-1148.

YI Feng, WANG Yao-Na, JIA Han-Min.

Real-time Solution of Inverse Kinematics Problem of Multi-joint Robots

[J]. China Mechanical Engineering, 2010, 21(10): 1143-1148.

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