CAJ | 학술논문

针对五自由度机械臂自由度不足而导致的基于笛卡尔空间轨迹规划产生的目标末端位姿，可能不存在运动学逆解的情况，提出了一种基于自由度约束的末端位姿描述，并根据该位姿描述得出了一种五自由度机械臂逆运动学求解的几何方法。该方法基于机械臂模型的几何特性，通过将轨迹规划和运动学逆解2个阶段进行一定程度的结合，确保了轨迹规划得到的目标末端位姿的运动学逆解的存在性。通过仿真实验分析，证明了该方法的可行性与精确性。
침대오자유도궤계비자유도불족이도치적기우적잡이공간궤적규화산생적목표말단위자，가능불존재운동학역해적정황，제출료일충기우자유도약속적말단위자묘술，병근거해위자묘술득출료일충오자유도궤계비역운동학구해적궤하방법。해방법기우궤계비모형적궤하특성，통과장궤적규화화운동학역해2개계단진행일정정도적결합，학보료궤적규화득도적목표말단위자적운동학역해적존재성。통과방진실험분석，증명료해방법적가행성여정학성。
In order to solve the problem that there is no inverse kinematics solution about ma-nipulator end pose generated by traj ectory plan-ning in Cartesian space,which is caused by the lack of freedom,a geometrical inverse kinematics meth-od for 5 DOF manipulator is proposed,in which the end pose of manipulator is described accord-ing to freedom constraining.Based on the geomet-rical characteristic of the manipulator,this method connects the traj ectory planning stage with the in-verse kinematics solving stage to a certain extent, and ensures the existence of the inverse kinematics solution.Through simulation analysis,this algo-rithm is proved to be feasible and precise.