面向板材切割的冗余度机械臂运动规划  

Motion planning of redundant manipulator for plate cutting

作　　者：李克讷 刘备 马玉如 王温鑫 杨津 LI Kene;LIU Bei;MA Yuru;WANG Wenxin;YANG Jin(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11期58-62,75,共6页Modern Manufacturing Engineering

基　　金：国家自然科学基金项目(61663003)。

摘　　要：针对板材切割过程中冗余度机械臂的工作空间难以满足其作业需求的问题,提出一种可扩大机械臂工作空间的板材切割方案。将机械臂基座放置在导轨上,以扩大机械臂的工作空间,通过设计机械臂的末端笛卡尔速度,实现机械臂与移动基座的协调运动。利用伪逆法获得关节速度的解析解,以控制机械臂来完成板材切割任务。计算机仿真结果验证了板材切割方案的有效性和可行性。In order to solve the problem that the workspace of redundant manipulator is difficult to meet the requirement of plate cutting,a plate cutting scheme,which can enlarge the manipulator′s workspace,was proposed.The manipulator base was mounted on the guideway to enlarge the manipulator′s workspace.By designing the Cartesian velocity at the end of the manipulator,the coordinated movement between the manipulator and the moving base was realized.The analytical solution of joint velocity was obtained by using pseudo-inverse method,and thus,the manipulator can be controlled to accomplish the plate cutting task.The computer simulation results verify the validity and feasibility of the plate cutting scheme.

关 键 词：板材切割 冗余度机械臂 运动规划 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]