| 引用本文: | 刘罡,刘玉斌,赵杰,朱磊.新型煤矿救援机器人的特殊运动逆运动学[J].哈尔滨工业大学学报,2011,43(9):42.DOI:10.11918/j.issn.0367-6234.2011.09.009 |
| LIU Gang,LIU Yu-bin,ZHAO Jie,ZHU Lei.Inverse kinematics for special motion of a new mine rescue robot[J].Journal of Harbin Institute of Technology,2011,43(9):42.DOI:10.11918/j.issn.0367-6234.2011.09.009 |
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| 摘要: |
| 针对新型煤矿救援机器人头部单元的特殊运动(位姿调整),提出了一种基于空间分割和遗传算法相结合的新方法求解其逆运动学.该方法能以最小的转动代价实现期望的位姿,有利于保持机器人稳定.采用二次空间分割法,解决了遗传算法搜索空间大,难以收敛到全局最优解的问题.仿真实验结果表明,采用新的逆运动学算法得出的位姿误差较小,而且关节角更加接近真实值,满足新型煤矿救援机器人头部单元的运动要求. |
| 关键词: 救援机器人 逆运动学 空间分割 遗传算法 |
| DOI：10.11918/j.issn.0367-6234.2011.09.009 |
| 分类号:TP242 |
| 基金项目:国家高技术研究发展计划资助项目(2007AA041501) |
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| Inverse kinematics for special motion of a new mine rescue robot |
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LIU Gang, LIU Yu-bin, ZHAO Jie, ZHU Lei
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State Key Laboratory of Robotics and System,Harbin Institute of Technology,150001 Harbin,China
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| Abstract: |
| Aiming at the special motion(position and posture adjustment) of the head link of a new mine rescue robot,a novel algorithm based on the combination of spatial decomposition and genetic algorithm(GA) was proposed to solve inverse kinematics of the robot.This algorithm can realize prospective position and posture with the lowest turning cost and keep the robot stable.The two-step spatial decomposition method is presented and it overcomes the defects of big searching space and not converging to the global optimum solution using a GA algorithm.Simulation results show that the position and posture error derived using the new algorithm is smaller and the joint angles are closer to real values.The new algorithm can satisfy the motion requirement of head link of the new mine rescue robot. |
| Key words: rescue robot inverse kinematics spatial decomposition genetic algorithm |
