基于逆动力学方法的关节型机器人轨迹控制  

Trajectory control of the articulated robot based on inverse dynamics

作　　者：陈培华[1] 曹其新[1,2] 

机构地区：[1]上海交通大学机器人研究所,上海200240 [2]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《华中科技大学学报（自然科学版）》2013年第S1期17-20,24,共5页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家高技术研究发展计划资助项目(2007AA041602;2011AA040801;2012AA041401)

摘　　要：在已知机器人关节空间中起点和终点时刻运动参数的情况下,研究了基于五次多项式插值拟合的关节型机器人轨迹规划算法,获取了机器人运动中各个时刻所对应的关节位置、速度和加速度等数据信息.分析了基于迭代牛顿-欧拉算法的机器人逆动力学方程,依据规划好的机器人轨迹求取用于控制机器人运动或进行动力学仿真所需的驱动力矩,并建立了基于逆动力学方程的机器人轨迹控制系统.最后,比较了三种关节型机器人的轨迹控制方法并进行了相应的动力学仿真,对轨迹跟踪误差和力矩大小等性能参数进行比较,证明了基于RNEC和加速度反馈的机器人轨迹控制系统具有较高的跟随精度、较明显的轨迹控制效果,是一种较优的力矩控制方法.The trajectory planning algorithm of the articulated robot based on quintic polynomials in the joint space was studied under the condition of starting point′s and ending point′s motion parameters known,and the corresponding joint positions,speeds and accelerations at every moment were obtained.Research was also carried out on the robot inverse dynamics based on the iterative Newton-Euler algorithm,and the driven torques for robot control or dynamics simulation were calculated according to the planned robot trajectory.Meanwhile,the robot trajectory control system based on the inverse dynamics was established.Finally,three kinds of articulated robot's trajectory control methods were compared and tested in the dynamics simulation.According to the comparisons of the parameters of trajectory following error and driven torque,it proved that the articulated robot rajectory control system based on the combination of RNEC and acceleration feedback has high following accuracy and obvious trajectory control effect,which is an excellent torque control method.

关 键 词：关节型机器人 逆动力学 动力学仿真 轨迹规划 轨迹控制 关节空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]