创新的反向动力学算法用于具有偏移手腕的6DOF机器人操纵器
Cong Zhang1,2, Yu Cao1,2, Peng Sun3,4
1College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, 310023, China.
Scientific reports
|October 9, 2025
概括
本研究介绍了机器人臂逆动力学 (IK) 的新数值算法,该算法可以有效地处理偏移手腕中的偏差参数. 该方法改进了连接角度,以准确定位端效应器和实时轨迹跟踪.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 数字分析 数字分析
- 控制系统 控制系统
背景情况:
- 具有偏移手腕的机器人手臂的逆动力学 (IK) 由于偏差参数而带来了挑战.
- 现有的IK解决方案可能在复杂的机器人配置中难以准确和融合.
研究的目的:
- 开发一种新的数值算法,用于解决具有偏移手腕的机器人手臂的逆动力学.
- 通过解决偏差参数和避免局部最佳,提高IK解决方案的准确性和稳定性.
主要方法:
- 通过对机器人手臂进行分类和转换终端链接来简化 IK 问题.
- 使用雅可比矩阵和规范化术语对黑森矩阵进行校正.
- 动态调整规模化无记忆增强的布莱登-弗莱彻-戈德法布-沙诺 (SMABFGS) 算法的步骤大小,以动量为基础的梯度下降 (GD) 进行代改进.
主要成果:
- 该算法成功地近似了带有偏差手腕的机器人手臂所需的关节角度.
- 模拟实验验证了 IK 解决方案对于离散端效应器位置的准确性.
- 在物理机器人手臂上的实时轨迹跟踪实验证明了实际的有效性.
结论:
- 拟议的数值算法为具有偏移手腕的机器人手臂中逆动力学提供了有效的解决方案.
- 结合自适应步骤大小调整和矩阵校正,可以提高收性和准确性.
- 在实际应用中,该算法在离散姿势解决和连续轨迹跟踪方面都表现出强大的性能.
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