Optimized method for solving inverse kinematics of redundant manipulator

被引：0

作者：

Zhang Z. ^{[1
]}

Zhu Q.-D. ^{[1
]}

Lyu X.-L. ^{[1
]}

Fan X. ^{[2
]}

机构：

[1] College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin

[2] Institute of Chemical Materials, China Academy of Engineering Physics, Mianyang

来源：

Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2023年 / 53卷 / 12期

关键词：

analytical solution; inverse kinematics; joint limit; optimal energy consumption; particle swarm optimization algorithm; redundant manipulator;

D O I：

10.13229/j.cnki.jdxbgxb.20220099

中图分类号：

学科分类号：

摘要：

To solve the inverse kinematics of humanoid redundant manipulator，an optimized method was proposed. The analytical solution of the inverse kinematics was established by introducing the arm angle parameters，and the feasible range of the arm angle under different forms of analytical solutions was further analyzed according to the joint limit. In addition，an objective function considering joint limit avoidance and optimal energy consumption was proposed. Tasks， priority was adjusted through adaptive weight parameters，and the particle swarm optimization algorithm was introduced to obtain the optimal solution. Experimental results show that the algorithm can obtain all solutions for a given arm angle and can select the optimal solution that satisfies the joint limit avoidance and low energy consumption. The proposed method has positive application significance for the trajectory movement of the redundant manipulator. © 2023 Editorial Board of Jilin University. All rights reserved.

引用

页码：3379 / 3387

页数：8

共 24 条

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