Inverse kinematics for a 7-DOF humanoid robotic arm with joint limit and end pose coupling
Inverse kinematics for a 7-DOF humanoid robotic arm with joint limit and end pose coupling
复制标题
具有关节极限和末端位姿耦合的7自由度仿人机械臂的运动学逆解
DOI：
10.1016/j.mechmachtheory.2021.104637
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发表时间：
2022-03-01
影响因子：
5.2
通讯作者：
Jiang, Yinlai
中科院分区：
文献类型：
--
作者：
Dou, Rutong;Yu, Shenbo;Jiang, Yinlai
基于人机交互的舒适性和亲和性，提出了一种7自由度的仿人机械臂。针对机械臂末端位姿耦合的特点，提出了一种基于解析法和逆阶法的集成方法，以获得机械臂在位置级的闭合解。推导了正、逆顺序机械臂上Denavit-Hartenberg （D-H）参数的坐标系建立方法和映射关系。随后，基于参数化方法推导了逆序机械臂的解析解，并利用关节极限得到了手臂角度的可行范围。此外，为了简化智能算法中的计算，提出了一种新的全局臂角优化算法，并分析了优化因子与全局臂角的关系。最后，通过基于机器人操作系统（ROS）的运动学仿真验证了方法的有效性。仿真结果表明，所提出的集成方法和全局臂角优化算法能够有效地求解机械臂的闭型解。
A 7 degrees-of-freedom (DOF) humanoid robotic arm is proposed based on the comfort and affinity of human-robot interaction. For the characteristics of the robotic arm with end pose coupling, an integrated approach based on the analytical and reverse order methods is proposed to obtain the closed-form solution of the robotic arm at the position level. The coordinate system establishment method and mapping relationship of the Denavit-Hartenberg (D-H) parameters at positive and reverse order robotic arms are deduced. Subsequently, the analytical solution of the reverse order robotic arm is derived based on the parametrization method, and the feasible range of the arm angle is obtained using the joint limits. Additionally, the novel global arm angle optimization algorithm is proposed to simplify calculation in the intelligent algorithm, and the relationship between the optimization factors and global arm angle is analyzed. Finally, the validity of the methods is verified by the kinematics simulation based on the Robot Operating System (ROS). The simulation results demonstrate that the proposed integrated approach and global arm angle optimization algorithm can effectively solve the closed-form solution of the robotic arm.