基于各向同性指标的双臂机器人轨迹规划

发布时间：2018-06-03 01:47

本文选题：双臂机器人 + 可操作度　；参考：《机械设计与制造》2017年12期

【摘要】：在对机器人进行位形优化和轨迹规划时,往往需要考虑机器人的各向同性,而经典的条件数指标不能表示成关节转角的解析式,这限制了其在轨迹规划上的应用。为了改善双臂机器人协调操作物体在运动过程中的各向同性,提出了双臂机器人各向同性指标,该指标在功能上类似于条件数,但可以解析表达,所以基于该指标的轨迹可使双臂机器人在运动过程中具有较好的各向同性。经过对该指标的表达式分析和轨迹规划仿真实验研究,结果表明该指标还具有使机器人远离奇异位形并适当增加任务方向的可操作度值的功能。
[Abstract]:In the configuration optimization and trajectory planning of robot, the isotropy of robot is often considered, but the classical condition number index can not be expressed as the analytical formula of joint rotation angle, which limits its application in trajectory planning. In order to improve the isotropy of a two-arm robot in the course of motion, an isotropic index is proposed, which is functionally similar to a condition number, but can be expressed analytically. So the trajectory based on this index can make the two-arm robot have better isotropy in the course of motion. Through the analysis of the expression of the index and the experimental research of trajectory planning, the results show that the index can also make the robot keep away from the singular configuration and increase the operational value of the task direction appropriately.
【作者单位】：中国科学院沈阳自动化研究所;中国科学院大学;沈阳建筑大学;
【基金】：辽宁省自然科学基金项目(2014020083);辽宁省自然科学基金项目(2014020084) 辽宁省农业公关及成果产业化项目(201404236)
【分类号】：TP242

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