基于连续比例因子的冗余度机器人梯度投影算法  

Gradient projection method of kinematic redundant manipulator based on continuous scale factor

作　　者：孙奎[1] 谢宗武[1] 黄剑斌[1] 刘宏[1,2] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150080 [2]德国宇航中心机器人及机电一体化研究所

出　　处：《吉林大学学报（工学版）》2009年第5期1257-1261,共5页Journal of Jilin University:Engineering and Technology Edition

基　　金：长江学者和创新团队发展计划项目

摘　　要：分析了冗余度机器人梯度投影法的研究现状,阐述了齐次解的比例因子的作用及其选择方法,提出了一种实时连续变化的比例因子计算方法。通过计算机仿真将所提出的逆运动学解方案同两个典型方案进行了比较。仿真结果表明,所提出的连续比例因子算法可以使机器人各关节角、角速度和角加速度的变化更加平滑和连续,克服了两种传统梯度投影法的缺陷。最后利用4自由度机械臂进行了实验,证明了算法的有效性。The status of gradient projection method of redundant manipulator is analysed, the effect and selection methods of the scale factor of the homogeneous solution is expatiated, a new method to calculate the scale factor is proposed which will make it changed continuously in real time. Computer simulation has been conducted to compare the new scheme with the other two typical ones, the results show that the new algorithm with the continuous scale factor can make the joints angle, joints velocity and joints acceleration of the manipulator more smoothly and continuously, it also can overcome the shortcoming of two traditional gradient projection methods. Experiment results with a 4 DOF manipulator verify the validity of the proposed algorithm.

关 键 词：自动控制技术 冗余度机器人 梯度投影法 比例因子 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]