关键词: 木板抓取, 冗余机械臂, 七自由度, 逆运动学, 位姿分离, 逆解优选

Abstract: Aiming at the difficult problem for solving the inverse kinematics of redundant robotic arm in picking board,based on the geometric configuration and vector characteristics of Seven Degrees Of Freedom (7-DOF) manipulator,the method of self-motion and separation of position and orientation was introduced to solve the inverse kinematics.The fourth joint angle and the first three joint angles in the reference arm plane were solved by the position vector of joint end on the robot.Then the arm Angle was introduced to solve the first three joint variables by Rodrigues transformation on the attitude matrix of joint 0-3.The last three joint variables were solved by the attitude matrix of joint end of the manipulator,and the singularity of the manipulator was analyzed.The weighted configuration space distance was used as an evaluation function to optimize the inverse solution.The experimental results showed that the proposed method had a higher success rate,shorter time consumption,higher accuracy and higher success rate of picking test.The methods had good application significance in real time control such as visual servo of redundant manipulator.

Key words: picking board, redundant manipulator, seven degrees of freedom, inverse kinematic, separation of position and orientation, inverse solution optimization