Optimization method for the configuration of redundant manipulators

Abstract

Considering a 7-degrees-of-freedom physical structure bias of the manipulator inverse kinematics problem, this paper presents a position inverse kinematics optimization algorithm for selecting the optimal parameter of a joint angle. Based on the analytical solution to the fixed parameters of a joint angle, by combining the Newton iteration method and Lagrange multiplier method, the algorithm transforms the calculation problem of the optimal configuration of the manipulator to determine the root of the optimal marking parameter of the manipulator. The algorithm optimizes the joint configuration and joint torque as a whole and identifies the optimal configuration. Compared with the velocity inverse kinematics algorithm, this method has higher accuracy and faster convergence. A comparative simulation experiment is conducted. The results show that compared with the velocity-stage algorithm, the inverse solution obtained by this method has no final-state self-motion, the accuracy in the position and pose is four orders of magnitude higher, the maximum joint force is reduced by 13%, and the torque optimization speed is fast, which is of great significance to in-orbit applications.