指定初始关节速度的冗余度机械臂运动规划方案设计  

Design on motion planning scheme of redundant manipulator with specified initial joint velocity

作　　者：李克讷 张增 莫巧良 刘备 LI Kene;ZHANG Zeng;MO Qiaoliang;LIU Bei(School of Electrical and Information Engineering,Guangxi University of Science and Technology,Liuzhou 545006,China)

机构地区：[1]广西科技大学电气与信息工程学院,柳州545006

出　　处：《现代制造工程》2021年第1期52-57,141,共7页Modern Manufacturing Engineering

基　　金：国家自然科学基金资助项目(61663003)。

摘　　要：设计了一种指定初始关节速度的冗余度机械臂运动规划方案。首先,根据机械臂关节角状态和末端执行器运动状态,在速度层上对机械臂建立伪逆算法求解模型;其次,为实现关节速度从指定初始速度连续趋近于执行任务所期望的速度解而在关节速度上加约束函数进行调整;再次,为减少机械臂执行任务期间末端执行器的位置误差而采用误差补偿方法以保证轨迹跟踪的精度;最后,将运动规划方案在MATLAB软件上对平面四连杆机械臂进行了仿真实验。仿真结果表明,该运动规划方案能消除机械臂在任务切换过程中的速度跳变,且末端执行器跟踪路径能达到较高的精度。A motion planning scheme of redundant manipulator with specified initial joint velocity was designed.Firstly,according to the joint angle state of the manipulator and the motion state of the end-effector,a pseudo-inverse-type resolving model was established on the velocity level.Secondly,a constraint function was imposed on the joint velocity to achieve continuous change of the joint velocity from the specified initial velocity to the desired velocity for performing the task.Thirdly,an error compensation method was employed to reduce the position error of the end-effector for ensuring the accuracy of the trajectory tracking during the task execution.Finally,the motion planning scheme was simulated on MATLAB for the planar four-link manipulator.The simulation results show that the motion planning scheme can eliminate the velocity jump during the task shifting,and a higher precision can be obtained for the end-effector tracking trajectory.

关 键 词：伪逆 冗余度机械臂 误差补偿 速度跳变 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]