华中科技大学学报（自然科学版）2024，Vol.52Issue(5)：123-129,7.DOI:10.13245/j.hust.240371
一种冗余机械臂逆运动学求解和优化方法
A solution and optimization method for inverse kinematics of redundant manipulator
摘要
Abstract
To solve the problem of difficulty in solving inverse kinematics of redundant manipulator,an inverse kinematics solution and optimization method based on joint angle parameterization was proposed.First,the forward kinematics were derived,and the analytical inverse kinematics were derived based on the joint angle parameterization method.Then,an objective function comprehensively considering the joint limit avoidance constraint and the motion continuity constraint was proposed,which fully considered the differences in different working states.Finally,the particle swarm algorithm with inertia weight was introduced to speed up the solution.Experiment results show that the average solution time of the inverse kinematics is 1.19 μs with the error within 10 nm,and all solutions for given parameter value can be obtained.The optimal solution can be obtained by the optimization objectives combining joint limit avoidance and motion continuity,which improves the optimization effect by 68.4%and 58.0%respectively compared with the conventional methods in the straight line and arc path tracking experiments.关键词
冗余机械臂/逆运动学优化/解析解/关节角参数化/粒子群算法Key words
redundant manipulator/inverse kinematics optimization/analytical solution/joint angle parameterization/particle swarm algorithm分类
信息技术与安全科学引用本文复制引用
李世其,贺平,韩可,张智勇..一种冗余机械臂逆运动学求解和优化方法[J].华中科技大学学报（自然科学版）,2024,52(5):123-129,7.基金项目
广东省重点领域研发计划资助项目(2019B010154003). （2019B010154003）
