偏置式空间机械臂关节角参数化逆运动学求解

针对偏置式空间7自由度(DOF)冗余机械臂,提出了一种基于关节角参数化的运动学求解方法。根据空间机械臂的结构特点对其臂型进行了分析,采用D-H(Denavit-Hartenberg)法建立空间机械臂坐标系。采用D-H法对空间机械臂操作空间进行了描述,在考虑运动学约束的基础上,得到了以关节角为变量的正运动学模型。通过分析逆运动学模型的可解性,采用矩阵逆乘的解析法求解了该类机械臂逆运动学的完整解析解。在Matlab环境下,使用Matlab Robotic Tools对机械臂的初始姿态进行了仿真。通过给定的机械臂末端位姿,根据推导的逆运动学算法对空间机械臂各个关节的角度进行了求解。机器臂的运动学逆解算将作为机器臂运动规划和轨迹控制的基础。

Joint Angle Parameterized Inverse Kinematics Resolution for Space Manipulator with Elbow Offset

According to the spatial 7 degree of freedom (7-DOF) redundant manipulator with elbow offset, a joint angle parameterized method is proposed to solve the problem. According to the structural characteristics of the space manipulator, the arm type was analyzed, and the Denavit-Hartenberg (D-H) method was used to establish the coordinate system of the space manipulator arm. The D-H method was used to describe the operation space of the space manipulator. Based on the consideration of the kinematic constraint, the forward kinematics model with the joint angle as the variable was obtained. By analyzing the solutions of the inverse kinematics model, the whole analytical method of the inverse kinematics of the manipulator was solved by the analytical method of matrix inverse. In the Matlab environment, the initial attitude of the manipulator was simulated by using Matlab Robotic Tools. Based on the position and pose of the end of manipulator, the angle of each joint of the robot arm was solved by the inverse kinematics algorithm. The inverse kinematics of the manipulator is taken as the basis for the motion planning and trajectory control of the manipulator.