摘要
为解决现有的一般6R机器人实时逆运动学算法存在计算过程复杂和有增根的问题,提出一种优化的实时高精度算法。将6个基础逆运动学方程作变形处理,通过符号运算把目标矩阵从24阶降低到16阶,提高计算效率的同时消除了增根。采用矩阵特征分解方法求解关节变量,保证了算法的稳定性和精度。在VC++环境中编译和调用CLAPACK进行矩阵运算,所有计算过程采用C/C++语言和面向对象程序设计方法实现。求解实例表明,提出的算法能在平均1.37ms内得到一般6R机器人的16组逆运动学解,并使对应的正运动学末端位姿矩阵元素精确到小数点后12位,可用于实时高精度在线控制。
In order to solve the problem that the existing real time algorithms for inverse kinematics of general 6R robots have complex procedures and extraneous roots, an optimized algorithm with real-time and high-accuracy performances is proposed. The 6 basic inverse kinematics equations are transformed through symbolic processing and the order of target matrix is reduced from 24 to 16, thus improving the algorithmic efficiency while eliminating extraneous roots. Eigen-decomposition is exploited to extract roots from target matrix, which ensures the stability of the algorithm and accuracy of the solutions. By invoking CLAPACK in VC＋＋ directly, all calculations,are accomplished with C/C＋＋ language and object orient programming technique. Experimental results show that the proposed algorithm can obtain 16 inverse kinematics solutions of general 6R robot in an average time of 1.37 ms, and elements in the corresponding position and orientation matrix of forward kinematics have an accuracy of 12 digits after decimal point, so it can be applied in real-time and high-accuracy control systems of general 6R robots.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2008年第11期304-309,共6页
Journal of Mechanical Engineering
关键词
一般6R机器人
逆运动学
矩阵分解实时高精度
General 6R robot Inverse kinematics Matrix decomposition Real time High accuracy
