多冗余度柔性机器人运动规划  

Motion Planning of Flexible Manipulators with Multi-Degree of Redundancy

作　　者：余跃庆[1] 刘林涛[1] 

机构地区：[1]北京工业大学机电学院,北京100022

出　　处：《机械科学与技术》2003年第4期588-590,649,共4页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目 ( 599750 0 1);北京市自然科学基金项目 ( 30 12 0 0 3)资助

摘　　要：研究多冗余度柔性机器人运动规划问题。利用冗余度机器人的冗余特性 ,通过运动规划 ,可以使柔性机器人的运动精度提高。采用充分利用冗余特性的初始位形和自运动同时规划法 ,分别对具有一个冗余度的平面三柔性臂机器人和具有两个冗余度的平面四柔性臂机器人进行规划。通过比较 。In this paper, the end-effector trajectory p la nning for flexible robot manipulators is studied. An improved method of planning initial configuration and self-motion simultaneously is proposed. For both the flexible robot with single-degree of redundancy and that with two-degree of r edundancy, the motion programming is carried out by the method. The numerical re sult indicates that the method is feasible and yields satisfactory precision of end-point, and the flexible robot manipulator with multi-degree of redundancy has better performance in decreasing elastic deformation than that with single- degree of redundancy.

关 键 词：柔性机器人 冗余度 运动规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]