摘要
本文将Ｄｕｂｅｙ等提出的梯度投影方法用于搬运装填作业的七自由度１５５ＨＰ＿１机器人操作机轨迹规划．１５５ＨＰ－１操作机含一整机移动自由度，在封闭多障碍空间中执行复杂搬运装填作业任务．文中分析了１５５ＨＰ－１操作机奇异问题，对障碍作了简化处理，在轨迹规划中采用了简化Ｊａｃｏ－ｂｉａｎ矩阵．最后给出了仿真结果．
This paper utilizes the gradient projection method proposed by Dubey to plan the seven DOF155HP-1 robot manipulator trajectories.The 155HP-1 manipulator contains a prismatic degree,and performsa complex pick-place task in a closed and multi-obstacle space.The manipulator singurality is analyzed,andobstacle avoidance is simplified.During trajectories planning,a simplified Jacobian matrix is adopted,andjoint-limit avoidance is taken as optimal performance index,At last,a 2-dimension simulatiOn is given to veri-fy the planned result.
出处
《机器人》
EI
CSCD
北大核心
1994年第5期296-302,共7页
Robot
关键词
冗余度
轨迹规划
机器人操作机
Redundancy,trajectory planning,robot manipulator
