三分支机器人最小范数逆解算法
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摘要
基于线性方程组及条件极值理论,针对三分支机器人逆运动学问题,提出了一种改进的最小范数逆解算法,避免了传统最小范数逆解中雅可比矩阵广义逆的复杂计算.针对操作分支关节数不小于任务空间维数的情况,进一步利用施密特正交化过程进行简化,提高了运算的实时性.搬运物体的仿真实例结果验证了所提算法的有效性.
The inverse kinematics for trinal-branch robotic manipulator is researched based on the theory of linear equations set and conditional extremum,and an improved algorithm for least-norm inverse kinematics solution is proposed. The complicated calculation in conventional algorithm for the generalized inverse of Jacobian is avoided in this algorithm,especially,if the joint degree of each handling branch is equal to or more than the dimension of task space,a further simplified calculation can be obtained with the introduction of the Schimidt orthogonalization procedure. The proposed algorithm is of the higher realtime computation capacity than the common method,through the simulation of carrying a single object,the validity of the proposed algorithm is certificated.
The inverse kinematics for trinal-branch robotic manipulator is researched based on the theory of linear equations set and conditional extremum,and an improved algorithm for least-norm inverse kinematics solution is proposed. The complicated calculation in conventional algorithm for the generalized inverse of Jacobian is avoided in this algorithm,especially,if the joint degree of each handling branch is equal to or more than the dimension of task space,a further simplified calculation can be obtained with the introduction of the Schimidt orthogonalization procedure. The proposed algorithm is of the higher realtime computation capacity than the common method,through the simulation of carrying a single object,the validity of the proposed algorithm is certificated.
引文
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