冗余度机械臂零初始加速度运动规划方案研究  

Research on Motion Planning Scheme for Redundant Manipulator with Zero Initial Acceleration

作　　者：徐剑琴 李克讷 杨津 张增 XU Jian-qin;LI Ke-ne;YANG Jin;ZHANG Zeng(Engineering Training Center,Guangxi University of Science and Technology,Liuzhou 545006,China;School of Electrical and Information Engineering,Guangxi University of Science and Technology,Liuzhou 545006,China)

机构地区：[1]广西科技大学工程训练中心,广西柳州545006 [2]广西科技大学电气与信息工程学院,广西柳州545006

出　　处：《计算机仿真》2020年第1期311-316,共6页Computer Simulation

基　　金：国家自然科学基金资助项目(61663003)。

摘　　要：针对冗余度机械臂加速度非零初始值的情况,探讨了一种基于伪逆的加速度层优化控制方案。利用约束函数以使关节从零初始加速度开始运动,并引入关节速度/位置的反馈信息,采用速度/位置误差补偿方法改善运动学方程。通过上述方案对机械臂进行优化控制,可及时减小末端执行器的速度误差和位置误差,从而保证轨迹跟踪的精度。利用MATLAB软件对平面三连杆机械臂跟踪圆形和星形轨迹进行了实验。实验表明末端执行器位置误差在5s内达到10-6 m精度,机械臂能顺利完成跟踪任务。For the case of non-zero initial acceleration of redundant manipulators,an optimal control scheme of acceleration layer based on pseudoinverse was discussed.The constraint function was used to start the joint from zero initial acceleration,the feedback information of the joint velocity/position was introduced and the velocity/position er-ror compensation method was used to improve the kinematic equation.By optimizing the manipulator,the speed error and position error of the end effector can be reduced in time,so as to guarantee the accuracy of trajectory tracking.U-sing MATLAB software,the simulation experiments of the plane three-link manipulator's tracking circle and star track were carried out.The experiments show that the position error of the end effector is 10-6m in 5s,and the ma-nipulator can complete the tracking task smoothly.

关 键 词：伪逆 冗余度机械臂 零初始 加速度 轨迹跟踪 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.3[自动化与计算机技术—检测技术与自动化装置]