摘要
针对机械臂逆解求取过程中存在大量矩阵变换、计算成本高的问题,采用位姿分离法对逆运动学求解过程进行改进,并提出基于自适应步长的RRT-connect路径规划算法。首先建立六自由度机械臂连杆坐标系模型,采用Standard Denavit-Hartenberg(D-H)方法对机械臂进行正运动学分析,得到机械臂末端执行器位姿相对于基座的齐次变换矩阵。然后引入位姿分离法改进了机械臂的逆运动学求解方法,将机械臂运动学逆解分为位置逆解和姿态逆解两部分,分别用几何法和解析法进行求解,减少了整体计算量。再者提出基于自适应步长的改进RRT-connect路径规划算法,解决了扩展速度慢的问题。最后通过仿真验证所提出方法的正确性和有效性。
In order to solve the problems of a large number of matrix transformations and high computational cost in the process of solving the inverse solution of the manipulator,the position and pose separation method is adopted to improve the solving process of the inverse kinematics,and a path planning algorithm based on adaptive step size RRT-connect is proposed.Firstly,the linkage coordinate system of the 6-DOF manipulator is established,and the forward kinematics analysis of the manipulator is carried out by using the Standard Denavit Hartenberg(D-H)method,and the homogeneous transformation matrix of the end-actuator pose relative to the base of the manipulator is obtained.The kinematics inverse solution of manipulator will be divided into two parts,position inverse solution and attitude inverse solution by using position and attitude separation method,which are solved by geometric method and analytical method respectively to reduce the overall calculation.Furthermore,an improved RRT-connect path planning algorithm based on adaptive step size is proposed to solve the problem of slow expansion speed.Finally,the correctness and effectiveness of the proposed method are verified by simulation.
作者
刘文倩
单梁
王志强
吴志强
戚志东
李军
LIU Wenqian;SHAN Liang;WANG Zhiqiang;WU Zhiqiang;QI Zhidong;LI Jun(College of Automation,Nanjing University of Science and Technology,Nanjing 210094,China)
出处
《控制工程》
CSCD
北大核心
2023年第11期2100-2107,共8页
Control Engineering of China
基金
江苏省自然科学基金面上项目(BK20191286)
中央高校基本科研业务费专项资金资助项目(30920021139)。
