Seven-degree-of-freedom mechanical arm limiting optimization method based on position-level inverse kinematics

Abstract

The invention provides a seven-degree-of-freedom mechanical arm limiting optimization method based on position-level inverse kinematics, and relates to a seven-degree-of-freedom mechanical arm limiting optimization method. The method aims to solve the problems that an existing numerical solution cannot obtain a closed solution, and final-state self-motion exists; and an analytical solution cannotbe used for offset configuration, and motion optimization cannot be realized. The method comprises the steps that firstly, an analytical solution of seven-degree-of-freedom mechanical arm inverse kinematics is obtained based on a parametric solving method for fixing a certain joint angle; then, the fixed joint angle parameter is used as input, joint limiting is used as an optimization index, and an optimal control problem is established; then, a constrained problem is converted into an unconstrained problem based on a Lagrangian multiplier method; and finally, the optimal joint angle parameteris solved based on a Newton iteration method, and seven joint space trajectories considering joint limiting optimization are obtained by giving an initial configuration, an expected tail end pose anda Cartesian path planning. The method is used for limiting optimization of a seven-degree-of-freedom mechanical arm.

Description

technical field [0001] The invention relates to a limit optimization method for a seven-degree-of-freedom mechanical arm, in particular to a limit optimization method for a seven-degree-of-freedom mechanical arm based on position-level inverse kinematics, and belongs to the field of robot inverse kinematics. Background technique [0002] In order to meet the flexibility of the manipulator's movement, the manipulator often has redundant degrees of freedom (such as 7 degrees of freedom) and different configurations, which brings challenges to the inverse kinematics solution. The speed-level inverse kinematics solution method based on the Jacobian null space is a numerical solution. Due to the redundant mechanical arm, its inverse kinematics is a numerical solution, so an analytical solution cannot be obtained, and it will fall into the final state of self-motion. Based on the Jacobian The general solution of the inverse kinematics of the manipulator is that the manipulator rea...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the existing numerical solution cannot obtain a closed solution, and there will be self-motion in the final state; the analytical solution cannot address the offset configuration, and the possibility of understanding the solution with the reduced degree of freedom is limited. Fixing a joint is equivalent to The flexibility of the robotic arm is limited, and there is a problem that it is impossible to optimize the motion

Images