基于旋量理论的三指机器人灵巧手逆运动学分析

中国机械工程

基于旋量理论的三指机器人灵巧手逆运动学分析

裴九芳;许德章;王海

安徽工程大学机械与汽车工程学院，芜湖，241000

出版日期:2017-12-25 发布日期:2017-12-21
基金资助:
国家自然科学基金资助项目(51175001)；
安徽工程大学优秀青年人才基金资助重点项目(2013RZR001zd)
National Natural Science Foundation of China （No. 51175001）

Inverse Kinematics Analyses of 3-finger Robot Dexterous Hand Based on Screw Theory

PEI Jiufang;XU Dezhang;WANG Hai

School of Mechanical and Automotive Engineering,Anhui Polytechnic University,Wuhu,Anhui,241000

Online:2017-12-25 Published:2017-12-21
Supported by:
National Natural Science Foundation of China （No. 51175001）

摘要/Abstract

摘要： 为提高三指机器人灵巧手逆运动学的求解效率，提出了基于旋量理论的逆运动学新的求解算法。以Shadow三指灵巧手为例，在无法直接利用单纯的Paden-Kahan 子问题求解逆运动学的条件下，食指（无名指）的逆解采用Paden-Kahan子问题与代数解相结合的算法，拇指的逆解采用数值法与Paden-Kahan子问题相结合的算法。最后通过计算实例证明了算法的有效性和可行性。该算法在保证精度的前提下，几何意义明显，耗费时间短，效率高。

关键词: 旋量理论, 灵巧手, 逆运动学, Paden-Kahan子问题

Abstract: A novel inverse kinematics algorithm was proposed based on screw theory in order to improve operation efficiency of inverse kinematics for 3-finger robot dexterous hand. Taking Shadow 3-finger robot dexterous hand as an example, because inverse kinematics might not be solved directly by Paden-Kahan sub problem, an inverse solution of index finger(ring finger) was combined with algebraic solution and Paden-Kahan sub problem. The inverse solution of thumb was combined with numerical method and Paden-Kahan sub problem. Finally, validity and feasibility of the algorithms were proved by an example. Under the premise of ensuring accuracy, the algorithms have obvious geometric meaning, less computation, and high efficiency.

Key words: screw theory, dexterous hand, inverse kinematics, Paden-Kahan sub problem

中图分类号:

TP242

裴九芳;许德章;王海. 基于旋量理论的三指机器人灵巧手逆运动学分析[J]. 中国机械工程.

PEI Jiufang;XU Dezhang;WANG Hai. Inverse Kinematics Analyses of 3-finger Robot Dexterous Hand Based on Screw Theory[J]. China Mechanical Engineering.

参考文献

[1]DENAVIT J，HARTENBERG R S. A Kinematics Notation for Lower Pair Mechanisms Based on Matrices [J].Journal of Applied Mechanics，1995，21(5):215-221.
[2]LEE R，YAN Honglin. Development of Universal Environment for Constructing 5-axis Virtual Machine Tool Based on Modified D-H Notation and OpenGL[J]. Robotics and Computer-Integrated Manufacturing，2010，26(3): 253-262.
[3]ROCHA C R，TONETTO C P，DIAS A. A Comparison between the Denavit-Hartenberg and the Screw-based Methods Used in Kinematic Modeling of Robot Manipulators[J]. Robotics and Computer-Integrated Manufacturing，2011，27(4):723-728.
[4]张玉茹，李继婷，李剑锋. 机器人灵巧手—建模、规划与仿真[M]. 北京：机械工业出版社， 2007.
ZHANG Yuru，LI Jiting，LI Jianfeng. Dexterous Robot Hand—model Planning and Simulation[M]. Beijing: China Machine Press，2007.
[5]SARIYILDIZ E，TEMELTAS H. Solution of Inverse Kinematic Problem for Serial Robot Using Quaternion[C]//Proceedings of the IEEE International Conference on Mechatronics and Automation. Changchun: IEEE，2009: 26-31.
[6]TAN Yuesheng，XIAO Aiping. Extension of the Second Paden-Kahan Sub-problem and Its' Application Kinematics of a Manipulator[C]// Proceedings in the Inverse of the International Mechatronics Conference on Robotics Automation. Chengdu: IEEE，2008: 379-381.
[7]钱东海，王新峰，赵伟，等.基于旋量理论和Paden-Kahan子问题的6自由度机器人逆解算法[J]. 机械工程学报，2009，45(9):72-76.
QIAN Donghai， WANG Xinfeng，ZHAO Wei，et al. Algorithm for the Inverse Kinematics Calculation of 6-DOF Robots Based on Screw Theory and Paden-Kahan Sub-problems[J]. Journal of Mechanical Engineering，2009，45(9):72-76.
[8]陈庆诚，朱世强，王宣银，等. 基于旋量理论的串联机器人逆解子问题求解算法[J]. 浙江大学学报:(工学版)，2014，48(1):8-14.
CHEN Qingcheng，ZHU Shiqiang，Wand Xuanyin，et al. Inverse Kinematics Sub-problem Solution Algorithm for Serial Robot Based on Screw Theory[J]. Journal of Zhejiang University(Engineering Science)，2014， 48(1): 8-14.
[9]孙恒辉，赵爱武，李达，等. 基于新旋量子问题改进一类6R串联机器人逆解算法[J]. 机械工程学报， 2016，52(1):79-86.
SUN Henghui，ZHAO Aiwu，LI Da， et al. Improvement of the Algorithm of the Inverse Kinematics Calculation for 6R Series Robots Based on One Novel Paden-Kahan Sub-problem[J]. Journal of Mechanical Engineering，2016，52(1):79-86.
[10]吕世增，张大卫，刘海年. 基于吴方法的6R机器人逆运动学旋量方程求解[J]. 机械工程学报，2010，46(17): 35-41.
LYU Shizeng，ZHANG Dawei，LIU Hainian. Solution of Screw Equation for Inverse Kinematics of 6R Robot Based on Wu's Method[J]. Journal of Mechanical Engineering，2010，46(17):35-41.
[11]李盛前，谢小鹏. 基于旋量理论和Sylvester结式法的6自由度机器人逆运动学求解分析[J]. 农业工程学报，2015，31(20):48-54.
LI Shengqian，XIE Xiaopeng. Analysis of Inverse Kinematic Solution for 6R Robot Based on Screw Theory and Sylvester Resultant[J]. Transactions of the Chinese Society of Agricultural Engineering，2015， 31(20):48-54.
[12]HUNT K H. Kinematic Geometry of Mechanisms [M]. New York: Oxford University Press，1978.

[1]	尹猛, 徐志刚, 赵志亮, 韩伟, . 基于套索传动的五指灵巧手设计与主从控制[J]. 中国机械工程, 2021, 32(08): 951-959.
[2]	龚峻山;方跃法;靳晓东. 基于并联手指结构的多功能灵巧手的设计与研究[J]. 中国机械工程, 2020, 31(23): 2837-2846.
[3]	肖帆;李光;游雨龙. 空间3R机械手逆向运动学的多模块神经网络求解[J]. 中国机械工程, 2019, 30(10): 1233-1238.
[4]	朱明星1,2;高国琴1;吴军3;陈太平1. 一种并/混联汽车电泳涂装输送机构运动/力传递效率性能分析[J]. 中国机械工程, 2017, 28(18): 2152-2160.
[5]	董晓东, 段清娟, 马彪, 段学超. 基于凸集理论的绳牵引串并联机器人工作空间算法[J]. 中国机械工程, 2016, 27(18): 2424-2429,2436.
[6]	赵延治, 赵飞, 杨建涛, 李兴兴, 赵铁石, . 并联6-RUS卫星相机像移补偿机构建模与分析[J]. 中国机械工程, 2016, 27(03): 369-375.
[7]	杨震;杨文玉;张晓平. 机器人逆运动学的奇异鲁棒性算法[J]. 中国机械工程, 2014, 25(8): 995-1000.
[8]	赵燕江1, 张艳华2, 陈浩1, 张永德1, Yan Yu3. 多种路径形式组合的柔性针二维路径优化[J]. 中国机械工程, 2013, 24(1): 6-11.
[9]	刘玮, 常思勤. 一种新型并联机器人的奇异性与工作空间研究[J]. 中国机械工程, 2012, 23(7): 786-790.
[10]	印松. 踝关节康复机器人设计及人—机运动映射分析[J]. 中国机械工程, 2012, 23(21): 2552-2556.
[11]	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.
[12]	钱少明, 杨庆华, 鲍官军, 王志恒, 张立彬. 基于气动柔性驱动器的弯曲关节的基本特性研究 [J]. J4, 2009, 20(24): 2903-2907.
[13]	杨东超;宾洋;贾振中;赵旦谱. 消极运动副的产生原因及判定方法[J]. J4, 2008, 19(7): 0-761.
[14]	张立彬;鲍官军;杨庆华;高峰;. 气动柔性驱动器及其在灵巧手中的应用研究综述 [J]. J4, 2008, 19(23): 0-2897.
[15]	赵大兴;李九灵;赵智明;周小明;. 集装箱喷漆机器人逆运动学分析[J]. J4, 2008, 19(22): 0-2649.