面向遥操作机器人逆运动学求解的自适应阻尼零空间方法

王龙; 韩松原; 陈漳沂; 罗瑶; 李晓玲; 李帅; 李胜麒

doi:10.7652/xjtuxb202511020

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面向遥操作机器人逆运动学求解的自适应阻尼零空间方法

更新时间：2025-11-11

- 面向遥操作机器人逆运动学求解的自适应阻尼零空间方法
- An Adaptive Damping Null Space Method for Inverse Kinematics Solving in Solving Inverse Kinematics of Teleoperated Robots
- 西安交通大学学报 2025年59卷第11期页码：209-217
- 作者机构：
- 作者简介：
  
  作者简介：王龙（1997—），男，博士生；
  李晓玲（通信作者），女，教授，博士生导师。
- 基金信息：
  
  陕西省重点研发计划资助项目(2023-YBGY-505)
- DOI：10.7652/xjtuxb202511020
  中图分类号： TP242
- 收稿：2025-03-10，
  
  纸质出版：2025-11-10
- 稿件说明：
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王龙, 韩松原, 陈漳沂, 等. 面向遥操作机器人逆运动学求解的自适应阻尼零空间方法[J]. 西安交通大学学报, 2025,59(11):209-217.

WANG Long, HAN Songyuan, CHEN Zhangyi, et al. An Adaptive Damping Null Space Method for Inverse Kinematics Solving in Solving Inverse Kinematics of Teleoperated Robots[J]. Journal of Xi'an Jiaotong University, 2025, 59(11): 209-217.
王龙, 韩松原, 陈漳沂, 等. 面向遥操作机器人逆运动学求解的自适应阻尼零空间方法[J]. 西安交通大学学报, 2025,59(11):209-217. DOI： 10.7652/xjtuxb202511020.

WANG Long, HAN Songyuan, CHEN Zhangyi, et al. An Adaptive Damping Null Space Method for Inverse Kinematics Solving in Solving Inverse Kinematics of Teleoperated Robots[J]. Journal of Xi'an Jiaotong University, 2025, 59(11): 209-217. DOI： 10.7652/xjtuxb202511020.

摘要

针对传统阻尼最小二乘法在非奇异区域解精度不足及奇异区域关节运动不确定性的问题，提出了一种基于自适应阻尼和零空间投影的遥操作机器人逆运动学求解方法。该方法通过动态加权可操作度与条件数，实时监测奇异状态并自适应调整阻尼因子，实现非奇异区域的高精度轨迹跟踪和奇异区域的运动稳定性；同时，通过零空间投影引入关节构型约束项，抑制穿越奇异区域时关节运动的随机性。实验采用gForcePro肌电臂环作为遥操作设备，控制新松多可GCR7-910协作机器人完成一系列任务。结果表明，所提方法在非奇异区域的轨迹跟踪平均误差（平移误差为9mm，旋转误差为8×10

-5

rad）低于各种阻尼因子（0.1，0.3，0.5）下的阻尼最小二乘法的误差，且在所有任务中各关节最大速度平均值（49（°）/s）也低于阻尼最小二乘法的速度，表明该方法在提升遥操作轨迹跟踪精度的同时确保了运动稳定性和关节可控性。

Abstract

To address the issues of insufficient solution accuracy in non-singular regions and joint motion uncertainty in singular regions with traditional damped least squares methods

this study proposes an inverse kinematics solving method for teleoperated robots based on adaptive damping and null-space projection. By dynamically weighting manipulability and condition number

the method monitors singular states in real time and adaptively adjusts the damping factor

achieving high-precision trajecto

ry tracking in non-singular regions and motion stability in singular regions. Simultaneously

a joint configuration constraint term is introduced via null-space projection to suppress the randomness of joint motions when traversing singular regions. Experiments are conducted using the gForcePro myoelectric armband as the teleoperation device to control a SIASUN GCR7-910 collaborative robot in performing a series of tasks. The results demonstrate that the proposed method achieves lower average trajectory tracking errors (9min translation and 8×10

-5

rad in rotation) in non-singular regions compared to the damped least squares method with various damping factors (0.1

0.3

0.5).Additionally

the average maximum joint velocity across all tasks (49 (°) /s) is lower than that of the damped least squares method

indicating improved teleoperation trajectory tracking accuracy while ensuring motion stability and joint controllability.

关键词

Keywords

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