冗余机械臂运动学逆解的求解优化方法

doi:10.13229/j.cnki.jdxbgxb.20220099

Abstract

Abstract:

To solve the inverse kinematics of humanoid redundant manipulator， an optimized method was proposed. The analytical solution of the inverse kinematics was established by introducing the arm angle parameters， and the feasible range of the arm angle under different forms of analytical solutions was further analyzed according to the joint limit. In addition， an objective function considering joint limit avoidance and optimal energy consumption was proposed. Tasks， priority was adjusted through adaptive weight parameters， and the particle swarm optimization algorithm was introduced to obtain the optimal solution. Experimental results show that the algorithm can obtain all solutions for a given arm angle and can select the optimal solution that satisfies the joint limit avoidance and low energy consumption. The proposed method has positive application significance for the trajectory movement of the redundant manipulator.

Key words: redundant manipulator, inverse kinematics, analytical solution, joint limit, optimal energy consumption, particle swarm optimization algorithm

CLC Number:

TP242

Zheng ZHANG,Qi-dan ZHU,Xiao-long LYU,Xing FAN. Optimized method for solving inverse kinematics of redundant manipulator[J].Journal of Jilin University(Engineering and Technology Edition), 2023, 53(12): 3379-3387.

Figures/Tables 13

Fig.1

Table 1

DH parameter table"

连杆i	$α i / (°)$	$d i / m$	$θ i / (°)$
1	0	d₁	$θ 1$
2	-90	0	$θ 2$
3	90	d₂	$θ 3$
4	-90	0	$θ 4$
5	90	d₃	$θ 5$
6	-90	0	$θ 6$
7	90	d₄	$θ 7$

Table 1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Table 2

Fig.7

Fig.8

Fig.9

Fig.10

Table 3

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组别	关节1	关节2	关节3	关节4	关节5	关节6	关节7
1	92.96	10.39	0	72.92	-124.34	76.96	121.35
2	92.96	10.39	0	72.92	55.66	-76.96	-58.65
3	92.96	10.39	-180	-72.92	55.66	76.96	121.35
4	-87.04	-10.39	-180	72.92	-124.34	76.96	121.35
5	92.96	10.39	-180	-72.92	-124.34	-76.96	-58.65
6	-87.04	-10.39	0	-72.92	55.66	76.96	121.35
7	-87.04	-10.39	-180	72.92	55.66	-76.96	-58.65
8	-87.04	-10.39	0	-72.92	-124.34	-76.96	-58.65

算法	计算时间/ms	平均目标函数值	平均位置误差/10^-7 m
本文	11.26	4.6	7.5
文献［17］	10.39	8.9	8.4

Optimized method for solving inverse kinematics of redundant manipulator

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