两4R冗余度柔性机器人协调操作的运动规划  

Motion Planning of Two 4R Redundant Flexible Cooperative Robots

作　　者：刘迎春[1] 余跃庆[1] 

机构地区：[1]北京工业大学机电学院,北京100022

出　　处：《中国机械工程》2004年第14期1272-1276,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助项目 ( 5 0 3 75 0 0 3 ) ;北京市自然科学基金资助项目 ( 3 0 12 0 0 3 )

摘　　要：提出了改进的关节初始位形规划法、改进的自运动规划法以及初始位形和自运动规划综合法 ,并对冗余度柔性协调操作机器人进行了运动规划 ,在保证两机器人协调以及两机器人各杆的弹性变形和动应力不超标的情况下 ,有效地降低了系统负载质心的位置误差 ,改善了系统的运动学性能 。A modified initial configuration planning method, modified self-motion planning method and synthesis planning method were proposed to plan the motion of redundant flexible cooperative robots. Taking the Elastic Deformation Degree Index and the Elastic Distortional Strain Energy Index as the constraints, the errors of the centroid of the payload of redundant flexible cooperative robots are reduced effectively. The kinematic performance of the system is improved while the elastic deformations and the dynamic stresses of the robot links are within the limits. The angular acceleration rules after planning are easy to be implemented.

关 键 词：机器人 柔性 冗余度 协调操作 运动规划 

分 类 号：TH112[机械工程—机械设计及理论]