摘要
针对非球型手腕喷涂机器人无解析解的问题,采用雅可比伪逆法进行求解。相比于其他逆解方法,该方法算法简单,实现方便,并且由于机器人连续运动轨迹中相邻两点位置姿态变化不大,所以很适合实时、高精度的机器人逆运动学求解。实验结果表明,应用雅可比伪逆法不仅可以求得此种机器人逆解,还可以解决奇异问题,对于连续运动轨迹有良好的局部收敛性,设定收敛误差指标为10~12的情况下,平均求解时间为0.13ms,可以很好地满足实时性和精度要求。
In this paper Jacobian pseudoinverse method is used to solve inverse kinematics for 6R robots with non-spherical wrist which has no analytic solution.Compared to other methods,the Jacobian pseudoinverse method is simple and easy to implement.As the position and attitude of adjacent points of a continuous trajectory during robot motion change slightly,this method is well suit for real-time and high precision requirement.
出处
《工业控制计算机》
2015年第10期76-78,共3页
Industrial Control Computer
关键词
逆运动学
非球型手腕
喷涂机器人
雅可比伪逆法
inverse kinematics
non-spherical wrist
paint robot
Jacobian pseudoinverse method
