摘要
运用几何方法求解一种具有7个旋转自由度的仿人机械臂的运动学逆解,并运用特定的寻优指标,搜索与指定末端位姿对应的关节角空间最优解.这种解法没有理论误差并且解算速度足够快,有利于在线实时控制机械臂的运动.
The inverse kinematics problem of a kind of humanoid manipulator with 7 rotating DOFs （degrees of freedom） is solved with a geometrical method, and the best solution in the space of the joint angles corresponding to the end-effector＇s given position and posture is searched with specific optimizing index. This method has no theoretical error but a sufficiently fast solving speed. It is propitious for the online real-time kinetic control of the manipulator.
出处
《机器人》
EI
CSCD
北大核心
2012年第2期211-216,共6页
Robot
关键词
逆运动学
几何法
仿人机械臂
冗余机械臂
inverse kinematics
geometrical method
humanoid manipulator
redundant manipulator
