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视觉伺服冗余度机器人在灵巧操作、装配等领域有很好的应用前景 .为了减少其运动规划的计算量 ,设计了一种具有准万向关节的七自由度机械臂结构 .在此基础上提出了一种基于位姿分散自律速度控制的运动规划方法 :采用速度矢量极小最小二乘分解方法进行腕部运动速度控制 ;根据欧拉角法则正向递推解决操作手的姿态规划问题 .文中还采用数值仿真手段验证了其有效性 .该方法的特点是物理意义明确 ,算法简单 .同时具有一定的运动学鲁棒性 .
Vision servo redundant robot has good application prospects in the field of smart operation and assembly, etc. In order to reduce the computational complexity of motion planning, a seven degree-of-freedom manipulator with quasi-universal joints is designed A motion planning method based on decentralized self-paced velocity control is proposed. The wrist motion velocity is controlled by the minimum-least-squares velocity vector minimization method. According to the Euler angle law, the operator’s attitude planning is solved recursively. The numerical simulation method is also used to verify its validity.The method is characterized by a clear physical meaning, a simple algorithm and a certain degree of kinematic robustness.