提出P-FABRIK方法，高效求解各类并联机构逆运动学问题。
P-FABRIK: A General Intuitive and Robust Inverse Kinematics Method for Parallel Mechanisms Using FABRIK Approach
- 通过拓扑分解将并联机构拆成多个串联子链，逐级迭代求解。
- 在多种平面及冗余并联机构上验证了方法通用性与效率。
- 可处理工作空间外目标，具有强鲁棒性，适合工程应用。
传统并联机构的几何逆运动学方法依赖特定空间几何约束，但在冗余并联机构中因约束复杂度增加而面临挑战，且当目标位姿超出工作空间时可能无解，导致控制异常。为此，本文提出P-FABRIK方法，基于FABRIK算法，实现对多种并联机构的通用、直观、鲁棒逆运动学求解。通过新的拓扑分解策略，将一般并联机构分解为多个串联子链，并迭代修正各子链末端目标位置以求解逆运动学。多组案例研究涵盖平面、标准及冗余并联机构，验证了方法的普适性。数值仿真进一步证明其有效性、计算效率以及处理工作空间外目标的鲁棒性。
原文摘要 · Abstract (English)
Traditional geometric inverse kinematics methods for parallel mechanisms rely on specific spatial geometry constraints. However, their application to redundant parallel mechanisms is challenged due to the increased constraint complexity. Moreover, it will output no solutions and cause unpredictable control problems when the target pose lies outside its workspace. To tackle these challenging issues, this work proposes P-FABRIK, a general, intuitive, and robust inverse kinematics method to find one feasible solution for diverse parallel mechanisms based on the FABRIK algorithm. By decomposing the general parallel mechanism into multiple serial sub-chains using a new topological decomposition strategy, the end targets of each sub-chain can be subsequently revised to calculate the inverse kinematics solutions iteratively. Multiple case studies involving planar, standard, and redundant parallel mechanisms demonstrated the proposed method's generality across diverse parallel mechanisms. Furthermore, numerical simulation studies verified its efficacy and computational efficiency, as well as its robustness ability to handle out-of-workspace targets.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。