现代制造工程Issue(8)：29-33,77,6.DOI:10.16731/j.cnki.1671-3133.2017.08.005
七自由度机械臂运动学分析
Study on an approach to the solution of inverse kinematics for redundant manipulators
摘要
Abstract
Aiming at the problems that solving inverse kinematics for seven degree-of-freedom manipulator has inferior reliability and cumulative error by using neural network and gradient projection method.Fully considered the characteristics of arm configuration and its self-motion,a new algorithm combined with geometry and analysis are proposed for solving redundant manipulator inverse kinematics and do some simulation verification.Position and orientation error weigh up this method feasibility.The simulation result shows that the maximum end error of manipulator position is less than 0.015mm and mean run time is 0.455ms by using this way.It is satisfied with online control requirement.It can provide a new idea for solving the manipulator inverse kinematics with rotate joint angle.关键词
冗余机械臂/逆运动学/几何法/解析法Key words
redundant manipulator/inverse kinematics/geometry algorithm/analytical algorithm分类
信息技术与安全科学引用本文复制引用
高涵,张明路,张小俊,高柏军,黄晓辰..七自由度机械臂运动学分析[J].现代制造工程,2017,(8):29-33,77,6.基金项目
国家高技术研究发展计划(863计划)资助项目(2015AA043101) （863计划）
