关键词: 冗余机械臂, 逆运动学, 参数化, 臂型角

Abstract: Aiming to SRS(spherical roll spherical joint) manipulator, an inverse kinematics resolution method based on arm angle planning is proposed in this paper. This method considers arm angle, which is planned according to the target place, as a redundant parameter. According to the geometry of the manipulator, the size of each joint is figured out when arm angle and terminal location are known. Meanwhile, aiming to the probable singular position of arm angle during the movement of the manipulator, inverse kinematics is solved by introducing the constraint of elbow position. The proposed inverse kinematics is verified by the co-simulation of UG Simulink and physical experiment. When the manipulator is located in the shoulder singular position, this method can avoid the countless results generated by joint parameterization. In the physical experiment of capturing and releasing under the gravity unloading environment, the presented methods in this paper can effectively solve the problem of singular solution under the limited motion space.

Key words: redundant manipulator, inverse kinematic, parameter, arm angle