Redundant mechanical arm inverse kinematics method based on analytic numerical value mixing method

Abstract

The invention discloses a redundant mechanical arm inverse kinematics method based on an analytic numerical mixing method. The redundant mechanical arm inverse kinematics method comprises the following steps that 1, an inverse kinematics model of a mechanical arm is established; 2, determining a cost function and a constraint condition of an inverse kinematics problem; step 3, searching an arm angle meeting a constraint condition; 4, updating the speed and the position of the particle; step 5, initializing the particles of which the speed and the position exceed the limit according to the boundary constraint condition and the cost function; 6, calculating the cost values and historical optimal values of all the updated particles and the global optimal value of the population; 7, if t is equal to t + 1, returning to the step 4, and continuously updating the positions and the speeds of the particles; and when t = tmax reaches the maximum number of iterations, circulation is terminated, and the particles with the minimum cost value and the group of inverse solutions corresponding to the particles are the mechanical arm inverse kinematics result corresponding to the final expected tail end pose. According to the method, a group of inverse kinematics results of the mechanical arm meeting obstacle avoidance, singularity avoidance and joint limit avoidance and capable of ensuring a continuous motion process are obtained.

Description

technical field [0001] The invention belongs to the technical field of inverse kinematics of redundant manipulators, in particular to an inverse kinematics method of redundant manipulators based on an analytical numerical hybrid method. Background technique [0002] There are theoretically infinite groups of inverse kinematics results of the redundant manipulator. Compared with the 6-DOF manipulator, when its end pose remains unchanged, other joints can still move, so its motion flexibility is good and it can overcome the joints. It can complete obstacle avoidance without changing the position and posture of the end, and can effectively avoid the configuration singularity problem that often occurs in non-redundant manipulators. [0003] In order to obtain a unique set of results, certain constraints need to be imposed on the inverse kinematics problem of the manipulator. The solutions to the inverse kinematics problems of manipulators can usually be divided into two categor...

AI Technical Summary

Problems solved by technology

The usual processing method is to set the arm angle to a fixed value or search and select according to a certain interval. This method is difficult to meet the requirements of the robot arm for obstacle avoidance and singularity avoidance. Therefore, it is necessary to comprehensively consider various constraints to select the appropriate The arm angle and then obtain a set of inverse kinematics results that meet all task requirements

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