A Position-Level Global Optimization Inverse Kinematic Solution Algorithm for Dual Redundant Robots Based on Motion Characteristics

He Jingjie

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A Position-Level Global Optimization Inverse Kinematic Solution Algorithm for Dual Redundant Robots Based on Motion Characteristics

机译：基于运动特性的双冗余机器人位置级全局最优逆运动学求解算法

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Camera robot is an important tool for realizing and reproducing complex camera motion path in modern special film effects. This paper proposed an inverse kinematics optimization algorithm for PRRPR-S redundant degrees of freedom (DoF) camera robot. This paper analyzed the motion characteristics, in GeneticMix (GM) method, from the idea of movement boundary composed of part robot axis. Then proposed Simplify Mix (SM) method which can stably converge to the global optimal solution in a shorter time.

机译：相机机器人是在现代特殊电影效果中实现和再现复杂相机运动路径的重要工具。提出了一种针对PRRPR-S冗余自由度（DoF）相机机器人的运动学逆向优化算法。从零件机器人轴组成的运动边界的思想出发，采用GeneticMix（GM）方法分析了运动特性。然后提出了可以在较短时间内稳定收敛到全局最优解的简化混合（SM）方法。

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《Mathematical Problems in Engineering》 |2018年第3期|9167837.1-9167837.10|共10页
作者
He Jingjie;
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AICFVE Beijing Film Acad, Beijing, Peoples R China;

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1. A Position-Level Global Optimization Inverse Kinematic Solution Algorithm for Dual Redundant Robots Based on Motion Characteristics [J] . Jingjie He Mathematical Problems in Engineering: Theory, Methods and Applications . 2018,第4期

机译：基于运动特性的双冗余机器人位置级全局最优逆运动学求解算法
2. The kinematic roadmap: a motion planning based global approach for inverse kinematics of redundant robots [J] . Ahuactzin J.M., Gupta K.K. IEEE Transactions on Robotics and Automation . 1999,第4期

机译：运动学路线图：基于运动规划的冗余机器人逆运动学全局方法
3. Inverse Kinematic Solutions of Dual Redundant Camera Robot Based on Genetic Algorithm [J] . Zhang Libo, He Jingjie, Wang Su Mathematical Problems in Engineering . 2017,第pta9期

机译：基于遗传算法的双冗余相机机器人逆运动学解
4. Inverse kinematic solution based on Lyapunov function for redundant and non-redundant robots [C] . Ramdane-Cherif, A., Meddah, . 1997

机译：基于Lyapunov函数的冗余和非冗余机器人逆运动学解决方案
5. Adaptive impedance control and global kinematic optimization of redundant robots. [D] . Perryman, Kelly D. 1993

机译：冗余机器人的自适应阻抗控制和全局运动学优化。
6. The optimized algorithm based on machine learning for inverse kinematics of two painting robots with non-spherical wrist [O] . Xiaoqi Wang, Jianfu Cao, Lerui Chen, 2020

机译：基于机器学习的逆运动学与非球形手腕的逆运动学优化算法
7. A Motion Planning Based Approach for Inverse Kinematics of Redundant Robots: The Kinematic Roadmap [O] . Juan Manuel Ahuactzin, Kamal Gupta 1997

机译：基于运动计划的冗余机器人逆运动学方法：运动学路线图
8. New insights into input relegation control for inverse kinematics of a redundant manipulator. Part 2, The optimization of a secondary criteria involving self motion of the joints [R] . Unseren, M. A. 1995

机译：对冗余机械手逆运动学输入降级控制的新见解。第2部分，关于关节自运动的次要标准的优化

A Position-Level Global Optimization Inverse Kinematic Solution Algorithm for Dual Redundant Robots Based on Motion Characteristics

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