基于几何法和DH法混合的6R工业机器人逆解算法
1. 天津理工大学, 先进机电系统设计与智能控制重点实验室, 天津 300384
2. 杭州海康威视数字技术有限公司, 浙江杭州 310051
3. 天津理工大学, 机电工程国家级实验教学示范中心, 天津 300384
| 摘 要： | 机器人的运动学是影响机器人控制系统实时性能和稳定性的关键。逆运动学问题的求解又是运动学的一个基本问题。逆运动学的难点在于机械臂或机器人本身的几何形状千变万化以及描述笛卡尔空间与联合空间之间映射的非线性三角方程引起的复杂计算问题。因此，目前没有较为通用的方法。传统矩阵法由于涉及到大量的矩阵运算，其求解过程复杂。本文提出几何法和DH法混合法，在逆运动学求解过程中，采用几何法求解机械臂前3个关节角，后3个关节采用矢量方式求解，最终得出逆解。以常用三种工业机器人为例，详细介绍几何法和DH法求解的过程，然后采用MATLAB仿真，验证了该几何解法的有效性。与传统算法常用的反变换矩阵法、迭代法等相比，逆解相同的点数，本文提出算法位姿误差基本相同，且具有比较高的效率。因而可以看出本文所提出算法具有一定的优越性和实用性。 |
| 关 键 词： | 工业机器人; 逆运动学; 几何法; DH法 |
| DOI： | 10.57237/j.mse.2024.01.001 |
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收稿日期: 2023-10-25
接受日期: 2024-01-03
在线出版日期: 2024-01-20
Inverse Solution of 6-DOF Robot Based on Geometric Method and DH Method
1. Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin 300384, China
2. Hangzhou Hikvision Digital Technology Co., Ltd., Hangzhou 310051, China
| Abstract: | The kinematics of robots are key factors affecting the real-time performance and stability of robot control systems. The solution of inverse kinematics is also a fundamental problem in kinematics. The difficulty of inverse kinematics lies in the ever-changing geometric shapes of the robotic arm or robot itself, as well as the complex computational problems caused by nonlinear triangular equations that describe the mapping between Cartesian space and joint space. Therefore, there is currently no more universal method. The traditional matrix method involves a large number of matrix operations, and its solution process is complex. This article proposes a hybrid method of geometric method and DH method. In the process of inverse kinematics solving, the geometric method is used to solve the first three joint angles of the robotic arm, and the last three joint angles are solved using vector method, ultimately obtaining the inverse solution. Taking three commonly used industrial robots as examples, this paper provides a detailed introduction to the process of solving using geometric and DH methods, and then uses MATLAB simulation to verify the effectiveness of the geometric solution. Compared with the commonly used inverse transformation matrix method, iterative method, etc. in traditional algorithms, the pose error of the algorithm proposed in this paper is basically the same for the same number of inverse solutions, and it has relatively high efficiency. Therefore, it can be seen that the algorithm proposed in this article has certain advantages and practicality. |
| Keywords: | Industrial Robot; Inverse Kinematics; Geometric Method; DH Method |
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