一种解析和数值相结合的机器人逆解算法

针对不存在解析逆运动学解的机器人结构,提出一种解析与数值相结合的求解算法.将传统的算法简化为寻找一个合适的目标函数,对一维关节变量进行迭代求解,其余关节变量可以用解析式求得,从而将逆运动学的多变量迭代求解问题简化为一维变量迭代求解.利用该算法对一种不存在解析逆解的5自由度机器人进行解算,耗时不足0.3ms,计算速度优于传统的算法.这种算法的实时性和准确性满足了机器人实时控制的要求,不需要进行正运动学计算,可以解决大多数关节正交结构的机器人逆运动学问题. 

Algorithm combined analytical and numerical solutions for robot inverse kinematics

Aiming at some robot configurations which can′t be resolved by analytical solution, an inverse kinematics algorithm, in which analytical and numerical solutions are combined, was proposed. This algorithm simplified the previous method to search a suitable object function, and then iteratively solved the one-dimensional joint variable, by which the other joint variables could be derived. The algorithm developed here performed a kinematics inversion of a 5 degree of freedom robot with no closed-form solutions in less than 3 ms using a desktop computer, an order of magnitude faster than the times found in the literature. This method is simple and fast enough to be suitable for real-time manipulator control. This approach does not require computation of the forward kinematics and can be used with manipulators of any geometry, although it is most efficient when applied to orthogonal manipulators.