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INVERSE KINEMATICS SOLVING METHOD FOR REDUNDANT ROBOT AND REDUNDANT ROBOT AND COMPUTER READABLE STORAGE MEDIUM USING THE SAME
INVERSE KINEMATICS SOLVING METHOD FOR REDUNDANT ROBOT AND REDUNDANT ROBOT AND COMPUTER READABLE STORAGE MEDIUM USING THE SAME
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机译：冗余机器人和冗余机器人和计算机可读存储介质的逆运动学求解方法
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摘要
An inverse kinematics solving method for redundant robot as well as a redundant robot using the same are provided. The method includes: obtaining an expression of a Jacobian matrix null space of a current configuration of each robotic arm of the redundant robot corresponding to a preset end pose of the robotic arm according to the preset end pose, and obtaining a relation between an angular velocity of the joints of the redundant robot in the Jacobian matrix null space of the current configuration based on the obtained expression; traversing the Jacobian matrix null space using the relation, and building an energy cost function of the redundant robot based on the relation; obtaining a target joint angle of each joint of the redundant robot based on the optimal inverse kinematics solution to transmit to the servo of the joint so as to control the joint.
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