基于姿态枚举算法的三自由度机械臂抗推绕姿态控制方法  

Anti-Push-Wrap Attitude Control of a Three-Degree-of-Freedom Robotic Arm Based on Attitude Enumeration Algorithm

作　　者：杨磊[1] Yang Lei(Xinxiang Institute of Vocational Technology,Xinxiang Henan 453000,China)

机构地区：[1]新乡职业技术学院,河南新乡453000

出　　处：《机械管理开发》2024年第9期54-56,共3页Mechanical Management and Development

摘　　要：由于现行方法在三自由度机械臂抗推绕姿态控制中应用效果不佳,机械臂倾角变化量较大,针对现行方法存在的不足和缺陷,提出基于姿态枚举算法的三自由度机械臂抗推绕姿态控制方法。建立三自由度机械臂运动学数学模型,通过求解确定机械臂末端位姿,采用插值法对机械臂运动轨迹离散化,确定离散点坐标差,采用位姿枚举算法对机械臂末端位姿枚举,抵抗末端位姿推绕变化,实现基于姿态枚举算法的三自由度机械臂抗推绕姿态控制。经实验证明,在设计方法应用下机械臂倾角变化量在2°以内,可以有效抵抗机械臂推绕运动,保证机械臂姿态稳定性。Since the current method is not effective in the anti-push-wrap attitude control of three-degree-of-freedom robotic arm,and the tilt angle of the robotic arm varies a lot,we propose the anti-push-wrap attitude control method of three-degree-of-freedom robotic arm based on attitude enumeration algorithm in order to address the shortcomings and defects of the current method.The kinematic mathematical model of three-degree-of-freedom robotic arm is established,the end position of robotic arm is determined by solving,the interpolation method is used to discretize the trajectory of the robotic arm,the coordinate difference of the discrete points is determined,and the position enumeration algorithm is used to enumerate the end position of the robotic arm,resisting the change of the end position of the end position of the push-wrap and realizing the three-degree-of-freedom robotic arm anti-push-wrap attitude control based on the position enumeration algorithm.It is proved by experiments that under the application of the design method,the tilt angle of the robotic arm changes within 2°,which can effectively resist the push-wrap motion of the robotic arm and ensure the stability of the robotic arm attitude.

关 键 词：姿态枚举算法 三自由度机械臂 推绕姿态 运动学数学模型 插值法 离散化 

分 类 号：TH137[机械工程—机械制造及自动化]