冗余度机械臂零初始关节速度的运动规划方案研究  

Research on Motion Planning Scheme for Redundant Manipulator with Zero Initial Joint Velocity

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,Guangxi Liuzhou545006,China;School of Electrical and Information Engineering,Guangxi University of Science and Technology,Guangxi Liuzhou545006,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：《机械设计与制造》2020年第6期253-256,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(61663003)。

摘　　要：对一种基于伪逆的冗余度机械臂的运动规划方案进行研究.首先,根据机械臂结构和末端运动规划问题,建立速度层的运动学伪逆算法求解模型.其次,通过在关节速度上加约束,可实现关节速度从零开始平滑变化,并能快速趋近其最小范数解.再次,利用了位置误差补偿方法改善了运动学方程,有效消除或减小机械臂执行任务期间末端执行器的位置误差,保证轨迹跟踪的精度.最后,利用MATLAB软件对平面四连杆机械臂跟踪圆形和螺旋线曲线轨迹进行了仿真实验.仿真结果表明,该运动规划方案具有指数收敛性质,运动误差能达到较高的精度等级.A motion planning scheme for redundant manipulators based on pseudoinverse is studied.Firstly,according to the structure of manipulator and the terminal motion planning problem,the model for kinematical pseudoinverse algorithm at velocity level is established.Secondly,by adding constraints to the joint velocity,the joint velocity can be smoothed from zero,and the minimum norm solution can be quickly approached.Thirdly,the position error compensation method is used to improve the kinematic equation,eliminate or reduce the position error of the end effector effectively,and to guarantee the accuracy of the trajectory tracking of the manipulator during the execution of the task.Finally,the simulation experiments of a planar four-link manipulator model tracking circular and spiral curve are carried out by MATLAB software.The simulation results show that the motion planning scheme has exponential convergence property and higher accuracy levels can be achieved for motion errors.

关 键 词：伪逆 运动学 冗余度机械臂 位置误差 补偿 跟踪轨迹 

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]