摘要
本文提出了一种具有球形腕的冗余度机器人逆运动学实时解的新方法。即采用位姿分解方式，使逆运动学划分为球形腕位置和姿态两部分。与非分解方式的广义逆解相比，以ＢＵＡＡ—ＲＲ７—ＤＯＦ机器人为模型的仿真，表明了两者所产生的关节轨迹相差较小。同时本文方法保留了机器人的冗余特点，而且使复杂的逆运动学得到简化，适合于实时控制。
A new method is presented for real -time inverse kinematics of redundant manipulators with spherical wrist. the inverse kinematics is divided into two parts by resolving positions and orientations of spherical wrist. From the simulation of BUAA--RR 7--Dof robot arm,it is shown that the differences of trajectory of joints between the method and others are small. The properties of redundancy is kept and the complex inverse kinematics is simplified. The method is suitable to real--time control.
