基于最优初始位形的冗余度机器人可操作度优化  

The Optimization of Manipulability for Redundant Manipulators Based on the Optimal Initial Configuration

作　　者：唐碧秋[1] 杨帆[1] 唐焱[1] 

机构地区：[1]桂林电子科技大学机电工程学院,广西桂林541004

出　　处：《组合机床与自动化加工技术》2015年第1期13-15,18,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(61063040)

摘　　要：冗余度机器人的初始位形对关节轨迹规划有很大影响。提出了一种基于最优初始位形的机器人可操作度优化方法,在以可操作度为性能指标对机器人的关节轨迹进行规划时,如果以优化出的可操作度最优的位形为初始位形,就可以提高执行任务初期的可操作度。算例仿真结果表明,这种基于最优初始位形的机器人可操作度优化方法可以提高机器人在执行任务开始时的可操作度,免去初期的调整过程,使其在整个运动过程中一直处于灵活性很高的位形。The initial configuration has a great influence in the joint trajectory planning for redundant manipulators. A method of the manipulability optimization for redundant manipulators based on the optimal Initial configuration is proposed. It can improve the manipulability during the initial stage of the task that putting the configuration with the highest manipulability as the initial configuration in the joint trajectory planning. The result of the simulation shows that the method of the manipulability optimization for redundant manipulators based on the optimal Initial configuration can avoid the adjustment process during initial period, and it can improve the manipulability during the initial stage of the task and make manipulators be in the configuration with high dexterity.

关 键 词：初始位形 可操作度 灵活性 冗余度机器人 

分 类 号：TH166[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]