计算机技术与发展2016，Vol.26Issue(12)：41-44,4.DOI:10.3969/j.issn.1673-629X.2016.12.009
六轮机器人逆运动学的几何诱导迭代法研究
Exploration of Geometric Inducing Method in Numerical Iteration for Six-wheeled Robot Inverse Kinematics
摘要
Abstract
The automatic control of robot has a higher requirement of real-time,and it is important for automatic control to get the solu-tion of robot inverse kinematics. In the traditional method,the solution by numerical iteration is always used,which is universal,but with the problems of slow convergence or non-convergence. Numerical iteration applied to robot inverse kinematics solution may bring the dis-advantage of heavy calculation,slow convergence,the unique result not to guarantee,and good real-time performance not to determine. Therefore,a method using the geometric characteristics of robot mechanism is demonstrated to accelerate iteration convergence. It tries to find the parameters describing the geometric characteristics of mechanism studied,and need merely calculation of the iteration of key vari-ables,while the other variables can be obtained by the analytic formula figured out by the geometric characteristics of mechanism. Apply-ing the method can achieve the required precision by less number of iterations on the premise of meeting the real-time performance. Six-wheeled is a model of robot rover which has extensive research and complex mechanism. Numerical simulation of concrete mechanism shows the availability and high efficiency of the method.关键词
机器人逆运动学/迭代求解/几何法诱导/摇臂式六轮探测车Key words
robot inverse kinematics/iterative solution/geometric induction/six-wheeled rocker rover分类
信息技术与安全科学引用本文复制引用
陈广涛,吕伟新,彭俊杰..六轮机器人逆运动学的几何诱导迭代法研究[J].计算机技术与发展,2016,26(12):41-44,4.基金项目
国家自然科学基金资助项目(61572305) （61572305）
