冗余度双臂机器人轴孔装配的三维动态仿真与实验  

3-D Dynamic Simulation and Experiment for Shaft and Hole Mating of Redundant Dual-arm Robot

作　　者：周军[1] 丁希仑[1] 陆震[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》2006年第4期422-427,共6页Robot

基　　金：国家863计划资助项目(2002AA742004);北京科技新星计划资助项目(H020821450120)

摘　　要：分析了冗余度双臂机器人进行轴孔装配的运动学约束关系,设计了一种分层递阶控制结构.通过三维图形动态仿真,在冗余度双臂机器人协调控制实验平台上进行了实验.仿真和实验结果表明该方法能够顺利地完成双臂协调插孔的作业.The kinematic constraint relations for shaft and hole mating of redundant dual-arm robot are analyzed and a hierarchical control structure is designed. By means of 3-D dynamic graphic simulation, the shaft and hole mating experiment is performed on the cooperative control experiment platform of redundant dual-arm robot. Simulation and experiment results show that this method can make the redundant dual-arm robot complete shaft and hole mating smoothly.

关 键 词：冗余度机器人 双臂协调 轴孔装配 松协调 分层递阶结构 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]