%0 Journal Article
%T 一般6R机器人逆运动学算法的改进<br>Improving Inverse Kinematics Algorithm for General 6-DOF Robots
%A 房立金
%A 高瑞
%J 机械科学与技术
%D 2018
%X 机器人几何结构不满足Pieper准则时，无法求得封闭形式的运动学逆解，这样的机器人也被称为一般机器人，其逆运动学通常采用数值解法。针对一般6自由度关节型机器人逆运动学求解，在求解过程中延用迭代思想，将第n次求解结果作为第n+1次迭代初值，满足了牛顿迭代法对迭代初值充分接近精确解的高要求。在迭代过程中使用雅克比矩阵的伪逆矩阵代替其逆矩阵，避免了机器人在奇异位形处无法求解的现象。在轨迹规划算法中，采用四元数球面线性插值的方法对起始点和终止点进行姿态插值，解决了欧拉角姿态插值法中存在的奇异性以及姿态过渡不平稳的问题。最后在MATLAB环境下进行仿真实验，结果验证了改进后的牛顿迭代法的可行性与实时性。<br>It is not possible for a robot whose geometry does not meet the Pieper criterion to obtain a closed kinematic inverse solution. The robot is also known as general robot, and its inverse kinematic problems are usually solved with the numerical method. For the general 6 degree of freedom articulated robot, the iterative idea is still used. The n-th solution is taken as the initial value of the next iteration, which satisfies the high requirement that the initial value of iteration is sufficiently close to the exact solution. In the iterative process, the pseudo inverse matrix of the Jacobian matrix is used instead of inverse matrix, thus avoiding the problem that the robot cannot solve at the singularity. In the trajectory planning algorithm, the four-dimensional spherical linear interpolation method is used to interpolate the starting point and the end point, solving the problem of singularity and transient transition in the Euler angle attitude interpolation method. Finally, simulations in the MATLAB environment are carried out, and their results verify the feasibility of the real-time control of the improved inverse kinematic algorithm
%K 机器人
%K 牛顿迭代法
%K 轨迹规划
%K 四元数球面线性插值
%K MATLAB&lt
%K br&gt
%K robots
%K inverse kinematic problem
%K initial value
%K real-time control
%K iterative method
%K MATLAB
%U http://journals.nwpu.edu.cn/jxkxyjs/CN/abstract/abstract7108.shtml