哈尔滨工程大学学报2016，Vol.37Issue(8)：1096-1102,7.DOI:10.11990/jheu.201507059
构形平面方法求解冗余机械臂逆运动学
Solving inverse kinematics for redundant manipulator using configuration plane method
摘要
Abstract
Due to the redundancies in the redundant manipulator, its inverse kinematics solution is complex. In this paper, based on the basic configuration plane theory, we propose a method for generating a rapid and concise solu⁃tion to the inverse kinematics of the redundant manipulator. First, we analyzed the structure of the redundant ma⁃nipulator and decomposed it into several configuration planes. Then, using the configuration plane matching method to match the position and orientation of the manipulator’ s working configuration, we obtained the semi⁃analytic in⁃verse kinematics solution. Finally, based on the results from a numerical simulation experiment for a 7⁃DOF redun⁃dant manipulator, we verified that the proposed method is fast, generates a highly precise solution, and avoids sin⁃gular values.关键词
冗余机械臂/构形平面理论/逆运动学/空间矢量法/构形平面匹配/串联机器人/半解析Key words
redundant manipulator/configuration plane theory/inverse kinematics/space vector/configuration plane matching/serial robot/semi-analysis分类
矿业与冶金引用本文复制引用
魏延辉,韩寒,于园园,杨子扬..构形平面方法求解冗余机械臂逆运动学[J].哈尔滨工程大学学报,2016,37(8):1096-1102,7.基金项目
国家自然科学基金项目（51205074）；国家科学技术部国际科技合作项目（2014DFR10010）；高等学校博士点基金项目（20112304120007）；中央高校基本科研业务费（ HEUCF160403）． （）
