机电工程技术2024，Vol.53Issue(7)：87-92,6.DOI:10.3969/j.issn.1009-9492.2024.07.018
面向节点化运动学模型的几何逆运动学
Geometric Inverse Kinematics for Node-based Kinematics Model
摘要
Abstract
To address the inverse kinematics problem of using distance to represent the kinematic model of robots in metric spaces,a geometric inverse kinematics algorithm based on Procrustes analysis and Levenberg-Marquardt algorithm is proposed.After abstracting the robot with nodes,a three-dimensional shape is constructed for the robot configuration,and the geometric inverse kinematics problem is transformed into an optimization problem that minimizes the difference between the current shape and the target shape.Specifically,Procrustes analysis is performed on the current shape and the target shape,and the Procrustes distance is used as the metric loss.The Procrustes superimposition strategy is determined according to the configuration similarity priority or real-time priority requirement.Then,based on the Levenberg-Marquardt optimization framework,the constructed optimization problem is solved.Finally,qualitative and quantitative comparisons are made with mainstream algorithms through 350 groups of examples.The experimental results show that,when choosing different strategies,the proposed method achieves the best results in terms of absolute accuracy,configuration similarity,computational time compared with mainstream methods.关键词
几何逆运动学/运动学优化/类人运动生成/动作模仿/人机协作Key words
geometric inverse kinematics/kinematics optimization/human-like motion generation/motion imitation/human-robot interaction分类
信息技术与安全科学引用本文复制引用
黎奕辉,伍家俊,郭灼豪..面向节点化运动学模型的几何逆运动学[J].机电工程技术,2024,53(7):87-92,6.基金项目
广东省重点研发计划项目"新一代通信与网络"项目(2020B0101130022) （2020B0101130022）
海关总署科研项目(2023HK114) （2023HK114）
