Numerical method for inverse kinematics using an extended angle-axis vector to avoid deadlock caused by joint limits*
Numerical method for inverse kinematics using an extended angle-axis vector to avoid deadlock caused by joint limits*
复制标题
使用扩展角轴矢量的逆运动学数值方法，以避免关节限制引起的死锁*
DOI：
10.1080/01691864.2021.1928545
复制
发表时间：
2021
期刊：
影响因子：
--
通讯作者：
N. Takesue
中科院分区：
文献类型：
--
作者：
Masanori Sekiguchi;N. Takesue
本文提出了一种新的逆运动学策略，以避免由关节限制引起的死锁。所提出的方法是一个传统的逆运动学数值方法和扩展的角轴矢量相结合。扩展的角-轴矢量，而不是欧拉角，表示定向误差。在该方法中，末端执行器的旋转方向的改变，通过使用扩展的角轴矢量，以避免死锁。本文介绍了扩展的角轴矢量中包含的改变旋转方向所需的具体参数。通过9自由度机器人的仿真验证了该方法的有效性。所提出的方法预计是有用的求解逆运动学问题，这仍然是解析解决。图形摘要
In this paper, a new inverse kinematics strategy is proposed for avoiding deadlock caused by joint limits. The proposed method is a combination of the conventional numerical method for inverse kinematics and an extended angle-axis vector. The extended angle-axis vector, instead of Euler angles, represents the orientation error. In the proposed method, the rotation direction of the end effector is changed by using the extended angle-axis vector to avoid deadlock. This paper describes the specific parameters included in the extended angle-axis vector that are necessary to change the rotation direction. The effectiveness of the proposed method was verified through simulations using a 9-degree-of-freedom robot. The proposed method is expected to be useful for solving inverse kinematics problems, which remain analytically unresolved. GRAPHICAL ABSTRACT