机械科学与技术2026，Vol.45Issue(7)：1154-1164,11.DOI:10.13433/j.cnki.1003-8728.20240142
一种用于冗余机械臂解析逆运动学的参数化方法
A Parameterization Method for Solving Analytical Inverse Kinematics of Redundant Manipulator
摘要
Abstract
This paper presents a parameterization method for solving the inverse kinematics of redundant manipulators using self-motion parameters.The method first employs an arm-angle parameter to derive the analytical expression of joint angles,reducing the optimization dimensions and improving computational speed.Self-motion manifolds are then determined by introducing a global configuration parameter,yielding a finite set of inverse kinematics solutions from an infinite solution space.Next,the feasible interval for the arm angle is identified by categorizing the relationship between the arm angle and joint angles into cosine and tangent types.With the feasible interval known,the distance between joint angles and their limits is calculated by normalizing joint angles,leading to an objective function for joint limit avoidance in arm angle optimization.The proposed global optimization algorithm updates the arm angle limit and narrows the feasible interval for optimization.At last,the simulations on a 7-degree-of-freedom PA10-7C manipulator show that the method reliably finds multiple feasible inverse solutions,stabilizes pose error at below 10-12,and averages a computation time of 0.85 ms over 10 000 test cases.关键词
冗余机械臂/自运动参数/逆运动学/关节极限避免/全局优化算法Key words
redundant manipulator/self-motion parameter/inverse kinematics/joint limit avoidance/global optimization algorithm分类
信息技术与安全科学引用本文复制引用
赵国军,李公法,江都,陶波,蒋国璋..一种用于冗余机械臂解析逆运动学的参数化方法[J].机械科学与技术,2026,45(7):1154-1164,11.基金项目
国家自然科学基金项目(52075530,51575407,51505349,61733011,41906177) （52075530,51575407,51505349,61733011,41906177）
