机器人2018，Vol.40Issue(1)：37-45,9.DOI:10.13973/j.cnki.robot.170255
改进末端跟随运动的超冗余蛇形臂机器人运动学逆解
Inverse Kinematics of Hyper-Redundant Snake-Arm Robots with Improved Tip Following Movement
摘要
Abstract
An inverse kinematics algorithm with improved tip following movement is proposed to solve the problems of expensive computational cost, exceeding joint limits and large configuration deviation for the inverse kinematics of hyper-redundant snake-arm robots. Constraints on the bending angles of snake arm are introduced to the tip-following method. And the update mode of the joint position is adjusted to make joints locate on the axis of the snake arm. By updating the spatial position of joints successively, the inverse kinematics of the hyper-redundant multi-section arm is converted into the inverse kinematics of a single-section arm with 2 degree-of-freedoms. Finally, the trajectory tracking effects of the snake-arm robot with the base moving, and also with the base fixed, are analyzed by simulation, and the performances of different methods under the same target position are compared. Results show that the improved algorithm can ensure that the bending angles do not exceed the given range and the amount of joint movement is diminishing from the tip to the base, yielding a more concordant movement. Compared with the Jacobian-based numerical method and the existing heuristic methods, the computational cost is decreased and the generated configuration deviation of the whole robot is reduced using the proposed method, which is more applicable for the real-time control of a snake-arm robot.关键词
超冗余/蛇形臂机器人/运动学逆解/关节极限/末端跟随Key words
hyper-redundant/snake-arm robot/inverse kinematics/joint limit/tip-following分类
信息技术与安全科学引用本文复制引用
熊志林,陶建峰,刘成良..改进末端跟随运动的超冗余蛇形臂机器人运动学逆解[J].机器人,2018,40(1):37-45,9.基金项目
国家973计划(2016YFD0700105) （2016YFD0700105）
上海隧道工程有限公司专项研究科研项目(2017-SK-09). （2017-SK-09）
