基于速度方向可操作度的冗余机器人关节轨迹优化  

A New Method of Joint Trajectory Optimization for Redundant Robot based on the Velocity Directional Manipulability Measures

作　　者：陈安军 马学文[2] 

机构地区：[1]江南大学机械工程学院,江苏无锡214122 [2]信阳师范学院网络信息与计算中心,河南信阳464000

出　　处：《机械传动》2008年第2期13-15,共3页Journal of Mechanical Transmission

基　　金：河南省自然科学基金项目(0211051800);河南省高校青年骨干教师资助项目

摘　　要：针对冗余度机器人机构的关节轨迹优化进行研究。在机器人速度可操作椭球和方向可操作度的基础上,定义冗余度机器人速度方向可操作度,以速度方向可操作度为性能指标,给出了冗余度机器人关节轨迹优化的一种新的方法。与伪逆优化结果比较,本文优化方法使得机器人速度方向可操作度达到期望值的时间明显减少,在给定方向上的传速性能得到显著改善。For the redundant robot, the joint trajectory optimization was discussed. On the basis of the velocity manipulability ellipsoid and the directional manipulability measure of the redundant robot, the velocity directional manipulability measures of the redundant robot was defined. Taking the velocity directional manipulability measure as the performance index, the new method of joint trajectory optimization of the redundant robot was presented. According to the result of the pseudo-inverse trajectory optimization the result of this paper showed that the taking times to reach the greatest of the velocity directional manipulability measures was decreased, the velocity transmission characteristics was improved in the special direction.

关 键 词：冗余度 机器人 速度方向可操作度 轨迹优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]