多机械臂捕捉公共目标的协调关节轨迹规划  

JOINT TRAJECTORY PLANNING FOR MULTI-ARM ROBOTS CAPTURING A COMMON OBJECT

作　　者：王兴贵[1] 马兴瑞[1] 邵成勋[1] 邹振祝[1] 

机构地区：[1]哈尔滨工业大学航天工程与力学系,哈尔滨150006

出　　处：《宇航学报》1993年第3期26-33,共8页Journal of Astronautics

基　　金：国家自然科学基金;中国科学院机器人学开放研究实验室基金

摘　　要：对于多机械臂捕捉公共目标的协调系统,各臂的爪端应同时接近并抓住目标。本文提出了基于各机械臂关节驱动力矩约束方程规划多臂系统运动轨迹的一种有效方法。该法,首先运用矩阵范数理论简化系统的动力学约束方程;然后在机械臂系统的关节空间内采用归一化无因次量运用非线性规划法优化其运动轨迹;最后将所规划的无因次量轨迹方程作为系统产生实际运动轨迹的发生器,通过给定各机械臂运动的初始和终止关节坐标,由系统的动力学约束方程计算出整个运动所允许的最短运行时间,即生成所期望的运动轨迹。用该法所规划的运动轨迹理论上能保证各手臂运动的充分协调一致,且计算效率高、可用于在线轨迹规划。文中还通过算例证实了该方法的实用性。For multi-arm robots capturing a common object, it is important that end effector of each arm is in contact with the common object at the same time. In this paper, an efficient method of joint trajectory planning for multi-arm robots capturing a common object is developed, having considered the dynamic constraint of the system. In this method, the matrix norm theory is applied to simplify the dynamic equations of multi-arm robots system first. Secondly, the normalized joint coordinates and movement time are adopted, and its trajectory equations are optimized by nonlinear programming algorithm. Then, the trajectory equations of normalized parameter are made to generate real trajectories of the system. When the initial and final point coordinates are given, the minimum movement time of the system can be determined through the dynamic constriant equations, and the real trajectory of the system can be obtained As a demonstrative example, the method is applied to the system of two manipulators capturing a common object. Finally, it is emphasized that the method can quarantee the end effect of ach arm approaching to the common object at same time, and it can be used in planning joint trajectory of robots on-line.

关 键 词：轨迹规划 多机械臂系统 非线性规划 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]