结合旋量和代数方法的工业机械臂逆运动学解法

摘要

针对工业机械臂逆运动学解算的问题,提出一种结合旋量方法和代数方法的逆运动学新解法.通过旋量的方法将工业机械臂整体逆运动学问题进行分解,利用Paden-kahan逆运动学子问题求解.并在该基础上利用工业机械臂的结构特点,利用代数方法进一步简化末端腕部三个关节的问题求解.以安川公司MH6六自由度工业机械人为例,验证算法正确性.实验表明:该方法可以获得正确的八组逆解并在旋量解逆运动学的基础上有效减少了中间计算步骤,降低了时间复杂度和空间复杂度.%According to the industrial manipulator inverse kinematics problems,a new method combining screw theoryand algebra method is proposed.The inverse kinematics problem of robot arm is decomposed by screw theory,the Paden-kahan inverse solution is used to solve the problem.Based on the structure characteristics of industrial manipulator,the algebra method is used to further simplify the solution of the three joints of the wrist.For example,the Yaskawa motoman-MH6,a 6 degrees of freedom industrial robot,is used to verify the correctness of the inverse kinematics algorithm.The experimental results show that the method can get 8 inverse solutions correctly and effectively to reduce the intermediate calculation steps and the time and space complexity compared with the existing methods.