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随着机器人的日趋复杂 ,逆运动学算法受到了许多限制。 90年代以来 ,基于多Agent的操作臂控制算法被提出 ,突破了传统的机器人控制依赖于精确模型的限制。但这些基于多Agent的算法中 ,操作臂末端点的运行轨迹是自由的。该文基于实际操作的需要 ,提出了基于多Agent的操作臂轨迹约束的控制策略。即依次使操作臂末端点到达轨迹上的各个采样点 ,达到操作臂末端点沿任一给定轨迹运行的目的 ,这将为避障操作打下必要的基础。该文提出拟合度的概念来控制末端点轨迹的精度 ,仿真结果证明了此策略的可行性
As robots become more sophisticated, inverse kinematics algorithms suffer from many limitations. Since the 1990s, the control algorithm of manipulator based on multi-agent has been proposed, which breaks through the limitation that the traditional robot control depends on the exact model. However, in these multi-agent-based algorithms, the trajectory of the end point of the operating arm is free. Based on the actual operation needs, this paper proposes a control strategy based on multi-agent trajectory constraints. That is, the end point of the operating arm reaches each sampling point on the trajectory in sequence to achieve the purpose of operating the end point of the operating arm along any given trajectory, which will lay the necessary foundation for the obstacle avoidance operation. In this paper, the concept of fitting degree is proposed to control the accuracy of the endpoint trajectory. The simulation results prove the feasibility of this strategy