摘要
针对冗余自由度机械臂的奇异性规避问题进行了研究,对基于旋量理论对7自由度机械臂进行运动学建模,分析了机械臂的奇异性,并根据机械臂最小奇异值作为奇异性优化指标,推导了避奇异的机械臂速度级逆运动学算法。根据速度级逆运动学算法进行避奇异的路径规划实验,实验结果表明,逆运动学算法具有良好的精度,验证了避奇异算法的有效性,为冗余机械臂的运动规划奠定了基础。
The singularity avoidance problem of redundant DOF manipulator was studied.A kinematic model of a 7-DOF manipulator was established based on the screw theory.The singularity of the manipulator was analyzed,and the velocity level inverse kinematics algorithm for singularity avoidance was derived based on the minimum singular value as the singularity optimization index.A path planning experiment for singularity avoidance was conducted based on the velocity level inverse kinematics algorithm.The experimental results show that the inverse kinematics algorithm has good accuracy,which verifies the effectiveness of the singularity avoidance algorithm and lays the foundation for the motion planning of redundant manipulators.
作者
刘一帆
李莉
吕磊
李昀佶
LIU Yifan;LI Li;LÜLei;LI Yunji(No.21 Research Institute of CETC,Shanghai 200233,China)
出处
《微特电机》
2024年第9期65-70,共6页
Small & Special Electrical Machines
关键词
旋量
冗余
机械臂
逆向运动学
避奇异
路径规划
screw
redundant
manipulator
inverse kinematics
singularity avoidance
path plan
