论文部分内容阅读
以自行开发的双爪式爬杆机器人Climbot为研究对象,提出一种同时考虑运动学和动力学约束的能量最优的攀爬运动规划方法.首先对机器人的攀爬运动能量消耗进行了数学描述,然后提出了一种能量最优运动规划方法,包括下层关节轨迹规划器、上层路径规划器以及优化路径搜索算法.最后,为了验证此种能量最优运动规划方法的有效性,给出了Climbot攀爬运动的算例,并对计算的结果进行了详细的分析.计算结果反映了该运动规划方法的有效性和可行性.
In this paper, Climbot, a double-claw climbing robot developed by ourselves, is proposed as an object of study, and an energy-optimal climbing motion planning method considering both kinematics and dynamics constraints is proposed.Firstly, the energy consumption of the climbing motion of the robot is described mathematically , And then proposes a method of energy optimal motion planning, including lower joint trajectory planner, upper path planner and optimization path search algorithm.Finally, in order to verify the effectiveness of this energy optimal motion planning method, Climbot The example of climbing motion is analyzed and the result of the calculation is analyzed in detail.The calculation results reflect the validity and feasibility of the method of motion planning.