机械科学与技术2025，Vol.44Issue(9)：1507-1513,7.DOI:10.13433/j.cnki.1003-8728.20230330
旋量理论和向量约束下的冗余机械臂逆运动学分析
Inverse Kinematic Analysis of Redundant Manipulator Under Spinor Theory and Vector Constraints
杨明发 1刘放 1黄文建 1李晨晖 1邓蓉1
作者信息
- 1. 西南交通大学轨道交通运维与装备四川省重点实验室,成都 610031||西南交通大学机械工程学院,成都 610031
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摘要
Abstract
Aiming at the inverse kinematics solution of a 7-degree-of-freedom redundant manipulator,an inverse kinematics algorithm combining spinor theory and vector constraint is proposed based on biased elbow joint configuration and translational characteristics of redundant manipulator.Considering the characteristics of the elbow offset and translational structure of the manipulator,a kinematic model is established based on spinor theory,and the first joint variable is used as the independent variable to solve other joint variables.The Paden-Kahan subproblem is used to establish the relationship between the first three joint variables,and the determination equation of the spatial vector coplanar between the joint axes is established as a constraint condition,and the first three joint variables are solved synchronously.Other joint variables are further solved by Paden-Kahan subproblems and vector relations.The feasibility and accuracy of the proposed method are verified by numerical examples.关键词
冗余机械臂/逆运动学/向量约束/旋量理论/Paden-Kahan子问题Key words
redundant manipulator/inverse kinematics/vector constraints/spinor theory/Paden-Kahan sub-problem分类
信息技术与安全科学引用本文复制引用
杨明发,刘放,黄文建,李晨晖,邓蓉..旋量理论和向量约束下的冗余机械臂逆运动学分析[J].机械科学与技术,2025,44(9):1507-1513,7.
