Inverse Kinematics Solution for Position–Orientation Adjustment Algorithm of Six-Legged Robot Based on Geometry Structure
Inverse Kinematics Solution for Position–Orientation Adjustment Algorithm of Six-Legged Robot Based on Geometry Structure
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DOI：
10.1007/s40997-016-0015-7
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发表时间：
2016-06
期刊：
影响因子：
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通讯作者：
Gang Chen;Bo Jin;Ying Chen
中科院分区：
文献类型：
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作者：
Gang Chen;Bo Jin;Ying Chen
多足机器人经常需要改变其身体位置和姿态，以便在不同的地形上行走。为了达到这一目标，需要一种实用的位置定向调整算法。本文重点研究了六足机器人的位姿调整算法，该算法用于计算六足机器人在已知站立位置、六足机器人本体中心和六足机器人姿态时的关节角度。六足机器人可以根据位姿调整算法得到的关节角度向目标位置和方向移动。提出了一种基于几何结构的六足机器人逆运动学求解方法。此外，在位姿调整算法中采用了逆运动学方法。此外，为了评价位姿调整算法的性能，本文还利用MatLab和ADAMS进行了线性跟踪仿真，并在六足机器人上进行了实验，验证了位姿调整算法的有效性。
Multi-legged robot often needs to change its body position and orientation in order to walk over different terrain. A useful position–orientation adjustment algorithm is needed to meet the goal. This paper focuses on position–orientation adjustment algorithm of a six-legged robot which is used to calculate the joint angles when the foothold positions, the center of six-legged robot body and the six-legged robot’s orientation are given. Six-legged robot can move to target position and orientation according to joint angles got by the position–orientation adjustment algorithm. A new approach based on geometry structure is proposed to solve inverse kinematics of the six-legged robot. Furthermore, the inverse kinematics method is used in the position–orientation adjustment algorithm. In addition, a linear tracking simulation is conducted by MATLAB and ADAMS to evaluate the performance of the position–orientation adjustment algorithm, and experiments are done on the six-legged robot to demonstrate the validity of the position–orientation adjustment algorithm.