摘要
当前机械臂需要完成的任务日益复杂,单个固定机械臂或者是移动机械臂已经不能满足需求,而多移动机械臂系统结合了移动基座的灵活性和多机械臂合作的高效性,引起了学术界的广泛关注.本文研究了在多个移动机械臂抬起目标物体后,移动平台因避障而改变移动轨迹导致与机械臂末端执行器产生相对位移时,如何利用零空间概念设计保持目标物体姿态稳定的控制方法.为验证该控制方法能适用于多移动机械臂系统,对其动力学进行建模,得到了与单机械臂系统形式一致的动力学方程.最后根据该控制方法,设计了多个移动机械臂协同搬运物体时保持物体稳定的控制律并进行了数值验证.
At present,the tasks that need to be completed by manipulators are becoming more and more complex,and a single fixed manipulator or mobile manipulator can no longer meet the needs.The multi-mobile manipulator system combines the flexibility of the mobile base and the efficiency of multi-manipulator cooperation,thus has attracted widespread attention from the academic community.This paper focuses on how to keep stable attitude of the object after lifted by the multiple moving manipulators using the concept of zero space,in the case that the mobile platform changes the movement trajectory due to obstacle avoidance and produces relative displacement with the end effector of the manipulator.To verify that the control method can be applied to the multi-mobile robotic arm systems,its dynamics are modeled and the dynamic equations consistent with the single manipulator are obtained.Finally,according to the proposed control method,the control law of the stability of the object lifted by multiple mobile manipulators is obtained and verified by the numerical simulations.
作者
王朗亭
张舒
WANG Langting;ZHANG Shu(School of Aerospace Engineering and Applied Mechanics,Tongji University,Shanghai 200092,China)
出处
《力学季刊》
CAS
CSCD
北大核心
2023年第2期281-292,共12页
Chinese Quarterly of Mechanics
基金
国家自然科学基金(11872277,12072237)
中央高校基本科研业务费专项资金(22120220590)。
关键词
多移动机械臂
动力学模型
零空间
multi-mobile manipulators
dynamic modeling
zero space
