故障机械臂模型重构后的轨迹规划与实验分析  

The Trajectory Planning and Experimental Analysis of Fault Mechanical Arm Based on Model Reconstructed

作　　者：许家忠[1] 王温强 谢文博[1] 夏科睿 

机构地区：[1]哈尔滨理工大学自动化学院,黑龙江哈尔滨150080 [2]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150001

出　　处：《哈尔滨理工大学学报》2016年第2期1-7,共7页Journal of Harbin University of Science and Technology

基　　金：国家重点基础研究发展计划项目(973计划)(2013CB035500)

摘　　要：针对六自由度机械臂作业过程中,两个旋转或俯仰关节发生故障后的运动受限问题,提出一种基于D-H表示法的模型重构轨迹规划方法 .首先对故障前后的机械臂结构进行分析,锁定故障关节,将原六自由度机械臂转化为四自由度机械臂,然后采用D-H表示法对故障机械臂进行建模,并求取其运动学正逆解,再重新在任务空间中对机械臂进行轨迹规划.为了验证故障机械臂轨迹规划算法的有效性,进行了移动机械臂旋拧圆形门把手的实验,采集故障前后的机械臂运动数据进行分析,验证了所设计算法在直线、圆弧轨迹规划中的可行性.实验结果表明,在故障机械臂的工作空间内,模型重构后的机械臂仍能完成一定的作业任务.In this paper,a kind of model reconstructed trajectory planning method based D-H way was proposed to solve the limited motion of two rotation joints or pitching for pre-fault and post-fault during the operation process of six freedom degrees mechanical arm. Firstly,the structure of mechanical in fault state is analyzed,the fault joints were locked,and six freedom degrees mechanical arm was transformed into four freedom degrees one.Secondly the model of fault mechanical arm was built through D-H way and forward-inverse kinematics solution were gained. Thirdly,the trajectory of mechanical arm was planned again in task space. The experiment that the movement mechanical arm twisted the round door handles was conducted to verify the availability of trajectory planning algorithm for fault mechanical arm. The movement data of mechanical arm for pre-fault and post-fault was collected and analyzed to vitrifies the feasibility of algorithm during straight line and arc trajectory planning. The result shows that the mechanical arm after model reconstructed can accomplish certain job task in task space.

关 键 词：六自由度机械臂 故障关节 模型重构 轨迹规划 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]