基于D-H算法的移动机械臂正运动学研究  

Research on'Trajectory Planning of Mobile Manipulator Based on Improved Gradient Projection Algorithm

作　　者：魏丽君[1] 吴海波[1] 刘海龙[1] 胡建浩 WEI Lijun;WU Haibo;LIU Hailong;HU Jianhao

机构地区：[1]湖南铁道职业技术学院轨道交通智能控制学院,湖南株洲412001 [2]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001

出　　处：《计量与测试技术》2020年第10期1-5,共5页Metrology & Measurement Technique

基　　金：湖南省自然科学基金(2018JJ5042);湖南省教育厅科学研究青年项目(19B379)。

摘　　要：移动机械臂系统由移动平台和机械臂两个子系统构成,二者的结合引入了较强的动力学耦合,增加了移动底盘且缺少固定基座,与固定式机械臂相比,移动机械臂具有自由度高、稳定性差等特点,因此其运动学和轨迹规划问题一直是研究的热点,本文在D-H参数法建立的坐标系运动参数的基础上,用梯度投影法进行逆运动学分析。基于极值法求比例因子,引入可优化度和自运动限制因子来对其进行描述,针对极值法存在可能使关节加速度超限的问题,提出了考虑关节加速度约束的新算法。介绍了笛卡尔空间轨迹规划的方法。最后对逆解算法进行了仿真对比,验证了新算法的有效性。Mobile manipulator system is composed of two subsystems: mobile platform and manipulator. The combination of the two subsystems introduces strong dynamic coupling, increases mobile chassis and lacks fixed base. Compared with fixed manipulator,mobile manipulator has the characteristics of high degree of freedom and poor stability. Therefore,its kinematics and trajectory planning are always the research hotspot. In this paper,the D-H parameter method is used to construct the mobile manipulator system. Based on the motion parameters of vertical coordinate system,the inverse kinematics analysis is carried out by gradient projection method. Based on the extremum method,the proportional factor is calculated and described by introducing the degree of optimization and the self-motion restriction factor. A new algorithm considering the joint acceleration constraint is proposed to solve the problem that the extremum method may cause the joint acceleration to exceed the limit. The method of Cartesian space trajectory planning is introduced. Finally,the algorithm of inverse solution is simulated and compared,and the effectiveness of the new algorithm is verified.

关 键 词：改进梯度投影算法 移动机械臂 冗余自由度 轨迹规划 

分 类 号：O3[理学—力学]