一种用于冗余机械臂解析逆运动学的参数化方法OA

This paper presents a parameterization method for solving the inverse kinematics of redundant manipulators using self-motion parameters.The method first employs an arm-angle parameter to derive the analytical expression of joint angles,reducing the optimization dimensions and improving computational speed.Self-motion manifolds are then determined by introducing a global configuration parameter,yielding a finite set of inverse kinematics solutions from an infinite solution space.Next,the feasible interval for the arm angle is identified by categorizing the relationship between the arm angle and joint angles into cosine and tangent types.With the feasible interval known,the distance between joint angles and their limits is calculated by normalizing joint angles,leading to an objective function for joint limit avoidance in arm angle optimization.The proposed global optimization algorithm updates the arm angle limit and narrows the feasible interval for optimization.At last,the simulations on a 7-degree-of-freedom PA10-7C manipulator show that the method reliably finds multiple feasible inverse solutions,stabilizes pose error at below 10-12,and averages a computation time of 0.85 ms over 10 000 test cases.