摘要
讨论了中医按摩机器人的双臂协调运动控制问题.根据机械臂的结构特点,将空间避碰问题转化为平面内的避碰问题,对按摩机器人双臂推拿过程中可能发生的碰撞情况进行了分析.利用平面几何方法,对机器人双臂协调推拿过程进行了避碰规划,设计出一套双臂协调运动控制策略.利用MATLAB对双臂的避碰情况进行了运动学仿真,仿真结果表明本文中设计的方法可以有效的实现双臂在推拿过程中的协调运动.
Control of dual-arm coordinated motion of Chinese massage robot was discussed in this paper. According to the structural characteristics of the manipulators, the problem of collision avoidance in three-dimensional space was transformed into one in the relevant plane. With the method of plane geometry, a collision avoidance strategy was designed. Kinematic process of collision avoidance of the two arms was simulated by MATLAB. The results showed that the method designed in the paper was effective for coordinated movement between the two arms.
出处
《计算机系统应用》
2013年第5期94-97,共4页
Computer Systems & Applications
基金
国家863计划项目(2008AA040206
2010AA040201)
关键词
中医按摩机器人
双臂协调
避碰
平面几何
Chinese massage robot
dual-arm coordination
collision avoidance
plane geometry
