In this paper, a new inverse kinematics strategy is proposed for avoiding deadlock caused by joint limits. The proposed method is a combination of the conventional numerical method for inverse kinematics and an extended angle-axis vector. The extended angle-axis vector, instead of Euler angles, represents the orientation error. In the proposed method, the rotation direction of the end effector is changed by using the extended angle-axis vector to avoid deadlock. This paper describes the specific parameters included in the extended angle-axis vector that are necessary to change the rotation direction. The effectiveness of the proposed method was verified through simulations using a 9-degree-of-freedom robot. The proposed method is expected to be useful for solving inverse kinematics problems, which remain analytically unresolved.

在本文中，提出了一种新的逆运动学策略来避免由关节限制引起的死锁。所提出的方法是传统的逆运动学数值方法和扩展的角轴矢量的组合。扩展的角度轴矢量，而不是欧拉角，表示方向误差。在所提出的方法中，通过使用扩展的角度轴矢量来改变末端执行器的旋转方向以避免死锁。本文描述了改变旋转方向所需的扩展角轴向量中包含的具体参数。通过使用9自由度机器人的仿真验证了所提出方法的有效性。所提出的方法有望用于解决在分析上仍未解决的逆运动学问题。