物理受限冗余机械臂逆运动学凸优化求解

发布时间：2018-04-08 13:29

本文选题：冗余机械臂　切入点：逆运动学　出处：《机器人》2016年03期

【摘要】：针对冗余机械臂逆运动学求解结果极有可能超过机械臂物理限制的问题,提出一种基于凸优化的逆运动学求解方法使得逆解结果满足物理约束.首先分析了关节速度与力矩关系,采用机械臂动能及重复运动为优化指标,以关节速度、关节力矩为优化变量.然后将逆运动学求解问题转化为凸优化问题,进一步转化为二次规划问题,充分利用冗余特性,实现逆运动学求解时避免关节位置、关节速度、关节力矩极限.最后利用7自由度冗余机械臂KUKA LBR iiwa进行仿真,求解关节量结果符合物理极限及优化准则.结果表明本文提出的方法适用于物理受限冗余机械臂的逆运动学求解.
[Abstract]:Aiming at the problem that the inverse kinematics results of redundant manipulators are likely to exceed the physical limitations of the manipulator, a inverse kinematics method based on convex optimization is proposed to satisfy the physical constraints.Firstly, the relationship between joint velocity and torque is analyzed. The kinetic energy and repetitive motion of the manipulator are used as the optimization indexes, and the joint velocity and the joint moment are taken as the optimization variables.Then the inverse kinematics problem is transformed into a convex optimization problem, and further transformed into a quadratic programming problem, which makes full use of redundant characteristics to avoid joint position, joint velocity and joint torque limit when solving inverse kinematics.Finally, the KUKA LBR iiwa is used to simulate the redundant manipulator with 7 degrees of freedom, and the result of solving the joint quantity accords with the physical limit and the optimization criterion.The results show that the proposed method is suitable for inverse kinematics of physically constrained redundant manipulators.
【作者单位】：东南大学自动化学院;复杂工程系统测量与控制教育部重点实验室;
【基金】：国家自然科学基金(61503076,61175113) 江苏省自然科学基金(BK20150624) 复杂工程系统测量与控制教育部重点实验室开放课题(MCCSE2014B02)
【分类号】：TP241

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