【摘要】 针对带有关节限位的冗余机械臂逆运动学求解问题，提出一种优化关节速度的保护性加权最小范数法，以解决经典加权最小范数法在极限处附近存在关节角速度过大等问题。这种方法使得关节在接近角度极限处时满足关节角与速度约束且速度可控，当关节在角度极限附近处完全停止，引入推动矩阵使其在更安全的范围内运动。利用七自由度冗余机械臂进行仿真，结果表明所提出的方法可以保证关节运动过程更符合角度和速度范围且速度更平稳可控。更多还原

【Abstract】 Aimed at the inverse kinematics problem of redundant manipulators with joint limits, a protective weighted least-norm method for optimizing joint speed is proposed to solve the problems of excessive joint angular velocity near the limit position caused by classic weighted least-norm method. This method made sure that when the joint was close to the angular limit, the speed of joint angle and joint angular velocity was still controllable. When the joint stopped completely near the angular limit, the push matrix was introduced to ensure the joint would move in a safe range. Simulation experiment was carried out on a 7-DOF redundant manipulator. The result shows that the proposed method is suitable for redundant manipulators inverse kinematics, the joint angle and joint angular velocity is more stable and the speed is controllable during motion process.更多还原