摘要
欠驱动技术在航天领域有重要应用价值。针对空间机器人系统,研究了欠驱动冗余度机械臂的"非完整冗余"特征和无碰撞路径最优运动规划方法。这种系统对于给定的机械臂末端位姿,其冗余特征不便通过传统意义上的运动学"自运动"来刻画,但是因机构自由度数大于工作空间维数,系统的冗余特征可通过动力学水平的控制体现出来。基于李雅普诺夫方法,提出一种欠驱动冗余度机械臂的无碰撞路径最优规划方法,揭示了这种机器人系统的"非完整冗余"特征,通过平面3连杆机械臂进行了仿真。
The under-actuated is an important technique of fault tolerance control technology for space engineering. Nonholonomic redundancy and a collision free motion planning method for under-actuated redundant manipulator were studied in this paper aiming at the Space-Robot-Systems. For a certain end-effecter position and orientation of a manipulator, the redundancy of the under-actuated manipulator system cannot be exhibited by 'self-motion' in kinematics. But for that the degrees of freedom of the manipulator are more than the dimensions of manipulating space, the multi-solutions characteristics of the under-actuated redundant system can be described as 'Nonholonomic Redundancy', that is to say an under-actuated redundant manipulator can move to the destination through multi different paths. Based on the Lyapunov theory, a collision free motion plan method for the under-actuated redundant manipulator was proposed, the characteristics of nonholonomic redundancy of the system is revealed. The simulation results on a 3-DoFs manipulators verified the method is effectual.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2005年第2期143-147,共5页
Journal of Astronautics
基金
国家自然科学基金(50375007
50475177)
关键词
欠驱动
冗余度
非完整
机械臂
运动规划
Under-Actuated
Redundancy
Nonholonomic
Manipulators
Motion planning