中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 期刊论文
题名: 一种求解冗余机械臂逆运动学的优化方法
其他题名: An Optimization Method for Solving the Inverse Kinematics of Redundant Manipulator
作者: 阳方平 ; 李洪谊 ; 王越超 ; 陈鹏 ; 王雪竹
作者部门: 机器人学研究室
关键词: 加权最小范数法 ; 冗余机械臂 ; 逆运动学 ; 雅可比矩阵
刊名: 机器人
ISSN号: 1002-0446
出版日期: 2012
卷号: 34, 期号:1, 页码:17-21,31
收录类别: EI ; CSCD
产权排序: 1
摘要: 基于加权最小范数法,推导出一种避免计算雅可比矩阵伪逆的优化方法.首先对加权雅可比矩阵的6维非奇异子矩阵求逆,得到逆运动学的特解和齐次解.然后用特解减去齐次解沿特解方向的分量得到运动学逆解.通过一个7自由度冗余机械臂的算例和仿真证明了方法在保证求解精度、降低求解难度以及避免关节极限方面的有效性
英文摘要: Based on the weighted least-norm(WLN) solution,an optimization method that avoids calculating the pseu-doinverse of Jacobian matrixes is presented.Firstly,the inverse of the nonsingular 6x6 submatrix of the Jacobian is calculated to determine particular and homogeneous solutions of the inverse kinematics. Then,the solution of the inverse kinematics is obtained by subtracting the homogeneous solution s component in the direction of the particular solution from the particular solution. An illustrative example and simulation on a seven degree-of-freedom redundant manipulator are taken to verify the effectiveness of the method in reducing the solving difficulty, ensuring the accuracy of solution. and avoiding the joint limits.
语种: 中文
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/10017
Appears in Collections:机器人学研究室_期刊论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
一种求解冗余机械臂逆运动学的优化方法.pdf(3690KB)----开放获取View Download
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[阳方平]'s Articles
[李洪谊]'s Articles
[王越超]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[阳方平]‘s Articles
[李洪谊]‘s Articles
[王越超]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: 一种求解冗余机械臂逆运动学的优化方法.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace