关键词: 三分支, 最小范数, 运动学逆解, 施密特正交化过程

Abstract: The inverse kinematics for trinal-branch robotic manipulator is researched based on the theory of linear equations set and conditional extremum, and an improved algorithm for least-norm inverse kinematics solution is proposed. The complicated calculation in conventional algorithm for the generalized inverse of Jacobian is avoided in this algorithm, especially, if the joint degree of each handling branch is equal to or more than the dimension of task space, a further simplified calculation can be obtained with the introduction of the Schimidt orthogonalization procedure. The proposed algorithm is of the higher real-time computation capacity than the common method, through the simulation of carrying a single object, the validity of the proposed algorithm is certificated.

Key words: trinal-branch, least-norm, inverse kinematics, Schimidt orthogonalization procedure