冗余铺丝机械手逆运动学的拓扑流形分析

发布时间：2018-03-01 17:49

  本文关键词： 机械手 冗余 拓扑 流形 进气道　出处：《农业机械学报》2017年06期 　论文类型：期刊论文

【摘要】：针对优化的梯度投影算法在冗余铺丝机械手逆运动学求解问题中不一定存在最优解的问题,提出了一种拓扑流形算法。将冗余铺丝机械手的位形空间看作一个光滑流形,对耦合的位置逆解和姿态逆解进行解耦,然后分别针对位置子流形和姿态子流形进行仿真分析得到其相应的仿真拓扑流形。该方法可以将铺丝机械手的运动学问题抽象为数学中的曲面拓扑流形来研究,为铺丝机械手运动学在流形上分析提供了理论基础,同时也为后续铺丝机械手的最优化自运动控制提供了一种新的方法。最后以飞机S形进气道为例进行仿真,验证了所提方法的正确性。
[Abstract]:Aiming at the problem that the optimal gradient projection algorithm does not necessarily have the optimal solution in solving the inverse kinematics problem of redundant wire-laying manipulator, a topological manifold algorithm is proposed. The configuration space of the redundant wire-laying manipulator is regarded as a smooth manifold. The position inverse solution and the attitude inverse solution are decoupled. Then the corresponding simulation topological manifolds are obtained by simulating the position submanifolds and attitude submanifolds respectively. This method can abstract the kinematics problem of the wire laying manipulators into the curved surface topological manifolds in mathematics. It provides a theoretical basis for the kinematics analysis of the wire laying manipulator on manifold, and also provides a new method for the optimization of self-motion control of the subsequent filamentous manipulator. Finally, the paper takes the S-shaped inlet of the aircraft as an example to carry out the simulation. The correctness of the proposed method is verified.
【作者单位】： 南京航空航天大学机电学院;
【基金】：国家重点基础研究发展计划(973计划)项目(2014CB046501)
【分类号】：TP241
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本文编号：1552943