基于宏-微机器人的不连续轨线的跟踪  

DISCONTINUOUS TRAJECTORY TRACKING BASED ON MACRO MICRO MANIPULATOR SYSTEM

作　　者：陈启军[1] 王月娟[1] 陈辉堂[1] 

机构地区：[1]同济大学电气工程系,上海200092

出　　处：《机器人》2000年第5期337-343,共7页Robot

摘　　要：针对宏 -微机器人跟踪不连续轨线 ,本文采用轨线分割的方法 .轨线分割的结果 ,宏机械手的期望轨迹为一条连续轨线 ,轨线中的不连续部分将由微机械手跟踪 ;同时 ,宏 -微机器人这一冗余系统变为两个非冗余系统 ,按照两个非冗余系统分别进行轨迹规划 ;微机械手除了完成分割的任务外 ,对宏机械手的轨迹误差在线补偿 ;4自由度宏Referring to the uncontinuous trajectory tracking of macro micro manipulator systems, this paper presents a kind of strategy of task division. As this result, the desired trajectory of macro manipulator is continuous and the discontinuous parts are tracked by Micro manipulator; the redundant system can be considered as two non redundant systems; trajectory planning is completed independently. By the fast motion of Micro manipulator, the trajectory errors of macro manipulator are compensated on line. Effectiveness of this strategy is demonstrated by the simulation and experiments carried out on our four degree macro micro manipualtor systems.

关 键 词：宏-微机器人 轨迹跟踪 机械手 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]