摘要
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。
In order to realize the expected work of a robotic humanoid arm,it is necessary to study the inverse kinematics to seek optimal input values of the joints.First,based on the results of forward kinematics analysis,the inverse kinematics of a five-DOF robotic humanoid arm was studied,and transformed into nonlinear equations for solving in the paper.Then,it is transformed to global optimization problem and a simple reaversal iteration algorithm was proposed to solve the equations.Finally,an example was given,and the results testified validity and efficiency of the method.It can provide the way for control of the robotic humanoid arm.
出处
《机械设计与研究》
CSCD
北大核心
2011年第5期25-28,共4页
Machine Design And Research
关键词
拟人手臂
逆运动学
非线性方程组
遍历迭代法
robotic humanoid arm
inverse kinematics
non-linear equations
reaversal iteration algorithm
