摘要
针对仿人机器人逆运动学在线求解问题,从计算实时性与数值稳定性的角度展开研究。分析了仿人机器人下肢拓扑结构,建立其运动学模型与前向运动学描述,根据当前机器人逆运动学算法研究成果,将几何方法与阻尼最小二乘法相结合,并结合分段阻尼思想,提出一种仿人机器人在线逆运动学求解算法。根据运动规划结果,将所提方法与基于雅可比矩阵的广义逆方法通过仿真算例进行对比,验证了所提方法在奇异位形附近的数值稳定性和在线实施的可行性。
To the problem of Inverse kinematics （IK） of humanoid online motion planning and control, a method is proposed to synthesize the geometry based method and damped least squares method. The topological configuration analysis of humanoid lower body, the description of forward kinematics, and the strategy of variable damp coefficients are presented. Using humanoid motion planning data, simulation is carried out to compare proposed method with Pseudo inverse method. And the stability near singularities and feasibility of online execution is validated using simulation results.
出处
《控制工程》
CSCD
2008年第6期715-719,共5页
Control Engineering of China
基金
国家自然科学基金资助项目(60475035)
国防科技大学研究生创新基金资助项目(B070302)
关键词
仿人机器人
逆运动学
阻尼最小二乘法
humanoid robot
inverse kinematics
damped least square method
