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针对拟人臂机器人在家庭环境中的自主抓取任务,提出了一种强调运动姿态似人特性的拟人臂动作的规划方法.该方法分为两个部分,构型规划和运动规划,构型规划基于人体工程学中广泛使用的快速上肢评估准则评价机器人运动姿态的似人特性,并在此基础上以机器人末端传速速率最优为目标规划机器人运动过程中的关键构型.运动规划结合了Fitts定律和似人运动模型规划了机器人末端的空间轨迹.本文最后以Motoman SDA10D拟人双臂机器人和Mitsubishi PA10机器人为例,具体介绍了该方法的应用和规划的结果,规划结果证明了本方法的可行性和有效性.
Aiming at the autonomous task of humanoid robot in home environment, this paper proposes a planning method of humanoid action that emphasizes the human nature of the athletic attitude.The method is divided into two parts: configuration planning and motion planning, configuration planning Based on the humanoid characteristics of the robot’s fast moving extremity evaluation criteria widely used in ergonomics, and based on this, the key configuration of the robot in the process of robot movement is optimized with the aim of optimizing the end velocity of the robot. Fitts law and human motion model to plan the trajectory of the end of the robot.At the end of this paper, the Motoman SDA10D humanoid robot and the Mitsubishi PA10 robot are taken as an example to illustrate the application of the method and the planning results. Feasibility and effectiveness.