基于多传感器信息的冗余度机器人运动规划与控制  

Kinematics Planning and Control of Redundant RobotsBased on Multi sensor Information

作　　者：丁希仑[1] 张武[1] 解玉文[1] 

机构地区：[1]北京航空航天大学机器人研究所,北京100083

出　　处：《机器人》2004年第4期361-367,共7页Robot

摘　　要：提出了一种基于多传感器信息的冗余度机器人规划与控制的模型 ,利用不同传感器本身的特性 ,分阶段地对多传感器的信息进行融合 ,减少规划时间 ,并在冗余度机器人的运动过程中 ,不断地提高位姿检测的精度 .将远距离的宏观规划和近距离的微调结合起来 ,增加了抓持的可靠性 .利用移动冗余度操作臂系统结构的几何特点进行了运动学分析、避奇异的方法研究及仿真对比分析 .A model based on multi sensor fusion is proposed for the kinematics planning and control of a redundant manipulator. Pose measuring and inherent characteristics of the sensors are used to fuse information from the sensors in different phases of manipulation, so the planning time is reduced evidently, and the accuracy of pose measuring is increased. Long distance macro planning and near distance micro adjusting are successfully combined to increase grasping stability. By using the geometry characteristics of manipulator, kinematics analysis and singularity avoidance are investigated and analyzed. The method has been applied to our redundant platform, and preferable experimental results have been achieved.

关 键 词：位姿检测 多传感器融合 运动规划 奇异 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]