摘要
研究能够直接通过视觉信息进行实时规划的自运动规划方法 .冗余度机器人的自运动受到构形约束 .从构形出发就能够采用矢量方法规划机器人的自运动 .以YJP 1型 7自由度机器人为例 ,针对一类具有旋转自运动主平面的一冗余度机器人 ,采用基于线性约束的最小二乘法思想 ,即把机器人末端的运动速度为零作为线性约束条件 ,代入求机器人自运动逆解的极小最小二乘方程式中进行处理 ,得到自运动的解析表达式 .
This paper tries to develop a real-time self-motion planning algorithm for vision-guiding robots. Self-motion of a redundant robot is determined by its geometric structure. So it is reasonable to plan the self-motion of redundant robots using a vector-based rule on the analysis of their geometric structure. In this paper, using a sort of redundant robot like YJP-1 manipulator, which has one redundant degree of freedom and a revolving chief plane of self-motion, a minimal least square algorithm under a set of linear constraints is introduced to obtain a vector-based self-motion plan. In the algorithm, the fact that the velocity of the end-effector must always be zero in self-motion is treated as a set of constraints condition. By this method, a unified expression for self-motion planning is obtained. Numerical simulation and experiments are also presented in the paper to verify the algorithm.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2003年第6期737-740,共4页
Journal of Southeast University：Natural Science Edition
基金
江苏省自然科学基金资助项目 (BK2 0 0 2 40 5 )
关键词
冗余度机器人
自运动
运动规划
Algorithms
Computer simulation
Least squares approximations
Motion planning
Redundancy
