为月球机器人臂提供6自由度逆运动学解析解，提升定位精度与实时性
Analytical Solution for Inverse Kinematics
- 基于几何法推导出6轴旋转关节机械臂的闭式解析解
- 计算效率远高于传统数值方法，满足月面任务实时需求
- 专为阿耳忒弥斯计划月球探测设计，适合空间机器人应用
本文提出一种针对六自由度（DOF）串联机械臂的闭式解析逆运动学（IK）解法，该机械臂由六个旋转关节构成，应用于月球探测车系统（LERS）。作为在严苛月面环境中执行精确操作的关键设备，该机械臂依赖于高精度的逆运动学求解以实现末端执行器的精准定位，支撑采样采集、基础设施搭建及设备部署等任务。通过几何原理建模，所提方法在保证高精度的同时显著降低计算开销，优于传统数值方法。该成果不仅提升了实时作业能力，更针对空间机器人场景优化，对阿耳忒弥斯计划及未来月球自主探索任务具有重要意义。
原文摘要 · Abstract (English)
This paper introduces a closed-form analytical solution for the inverse kinematics (IK) of a 6 Degrees of Freedom (DOF) serial robotic manipulator arm, configured with six revolute joints and utilized within the Lunar Exploration Rover System (LERS). As a critical asset for conducting precise operations in the demanding lunar environment, this robotic arm relies on the IK solution to determine joint parameters required for precise end-effector positioning, essential for tasks such as sample collection, infrastructure assembly, and equipment deployment. By applying geometric principles, the proposed method offers a highly efficient and accurate approach to solving the IK problem, significantly reducing computational demands compared to traditional numerical methods. This advancement not only enhances real-time operational capabilities but is also optimized for space robotics, where precision and speed are critical. Additionally, the paper explores the integration of the LERS robotic system, underscoring the importance of this work in supporting autonomous lunar exploration within the ARTEMIS program and future missions
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