首次完整定义了YuMi机器人臂的冗余参数化方法，助力精准路径规划。
Redundancy Parameterization of the ABB YuMi Robot Arm
- 用肩-肘-腕角（SEW）参数化7自由度机械臂冗余度，明确方向与参考点。
- 推导出SEW角雅可比矩阵，给出所有算法奇点的完整数值条件。
- 提供基于子问题分解的逆解求解器IK-Geo，支持2D搜索找全解。
ABB YuMi 是一款具有复杂冗余运动学结构的7自由度协作机器人臂，其路径规划在考虑关节限位时尤为困难。该机器人的冗余自由度采用肩-肘-腕（SEW）角进行参数化，即ABB所称的“臂角”，但此角度在RobotStudio仿真器外的明确定义缺失。本文首次提供完整且经过验证的SEW角定义：遵循传统SEW角公式，以第4关节轴方向为肘部指向；同时明确肩部位置，使该定义兼容任意参考向量选择。此前文献中的尝试不完整且与RobotStudio行为不符。本定义兼容通用SEW框架，进而推导出SEW角雅可比表达式，并给出所有算法奇点的完整数值条件。最后，通过我们基于子问题分解的逆解求解器IK-Geo，实现基于2D搜索的全部逆解求解。代码已公开于公共仓库。
原文摘要 · Abstract (English)
The ABB YuMi is a 7-DOF collaborative robot arm with a complex, redundant kinematic structure. Path planning for the YuMi is challenging, especially with joint limits considered. The redundant degree of freedom is parameterized by the Shoulder-Elbow-Wrist (SEW) angle, called the arm angle by ABB, but the exact definition must be known for path planning outside the RobotStudio simulator. We provide the first complete and validated definition of the SEW angle used for the YuMi. It follows the conventional SEW angle formulation with the shoulder-elbow direction chosen to be the direction of the fourth joint axis. Our definition also specifies the shoulder location, making it compatible with any choice of reference vector. A previous attempt to define the SEW angle exists in the literature, but it is incomplete and deviates from the behavior observed in RobotStudio. Because our formulation fits within the general SEW angle framework, we also obtain the expression for the SEW angle Jacobian and complete numerical conditions for all algorithmic singularities. Finally, we demonstrate using IK-Geo, our inverse kinematics (IK) solver based on subproblem decomposition, to find all IK solutions using 2D search. Code examples are available in a publicly accessible repository.
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