| 引用本文: | 孙奎,谢宗武,王建宇,刘宏.舱外航天服手臂的逆运动学解法[J].哈尔滨工业大学学报,2010,42(1):60.DOI:10.11918/j.issn.0367-6234.2010.01.015 |
| SUN Kui,XIE Zong-wu,WANG Jian-yu,LIU Hong.Algorithm for inverse kinematics of EVA spacesuit[J].Journal of Harbin Institute of Technology,2010,42(1):60.DOI:10.11918/j.issn.0367-6234.2010.01.015 |
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| 摘要: |
| 针对航天服手臂的特殊软关节结构和多自由度的特点,提出了基于最近邻的快速逆运动学解法,该方法保证在任何测量位置都能得到航天服关节角度的近似解.采用空间分块二步搜索策略,解决了基于最近邻方法求解舱外航天服手臂逆运动学中内存占用量大和效率低的缺点.仿真结果表明,最近邻的快速逆运动学解法在计算精度和实时性上均能满足测试系统的要求. |
| 关键词: 航天服 逆运动学 最邻近算法 空间二步分块搜索 |
| DOI：10.11918/j.issn.0367-6234.2010.01.015 |
| 分类号:V445.3 |
| 基金项目:国家高技术研究发展计划资助项目(2008AA12A213);哈尔滨市青年科技创新基金资助项目(2008RFQXG053) |
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| Algorithm for inverse kinematics of EVA spacesuit |
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SUN Kui, XIE Zong-wu, WANG Jian-yu, LIU Hong
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State Key Laboratory of Robotic Technology and System,Harbin Institute of Technology,Harbin 150001,China
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| Abstract: |
| Aimed at the special flexible joint structure of a spacesuit arm,an algorithm for fast solution of inverse kinematics,based on the nearest neighbor algorithm is presented.It can obtain the approximate solution of joint angle of spacesuit arm at any measuring position.The two-step spatial searching method is presented and it overcomes the defects of large memory and low searching efficiency in solving the inverse kinematics of the arm of EVA spacesuit.Simulation results from the SGI work station verify that the presented algorithm can meet the requirement of test system very well in calculation precision and real-time capability. |
| Key words: spacesuit inverse kinematics nearest neighbor algorithm sphere two-step searching method |
