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基于各向同性指标的双臂机器人轨迹规划
Alternative TitleTrajectory Planning of Dual-Arm Robot Based on the Isotropy Index
郭鹏; 房灵申; 谷侃峰; 邹媛媛
Department装备制造技术研究室
Source Publication机械设计与制造
ISSN1001-3997
2017
Issue12Pages:173-176
Contribution Rank1
Funding Organization辽宁省自然科学基金项目(2014020083) ; 辽宁省自然科学基金项目(2014020084) ; 辽宁省农业公关及成果产业化项目(201404236)
Keyword双臂机器人 可操作度 各向同性指标 轨迹规划
Abstract在对机器人进行位形优化和轨迹规划时,往往需要考虑机器人的各向同性,而经典的条件数指标不能表示成关节转角的解析式,这限制了其在轨迹规划上的应用。为了改善双臂机器人协调操作物体在运动过程中的各向同性,提出了双臂机器人各向同性指标,该指标在功能上类似于条件数,但可以解析表达,所以基于该指标的轨迹可使双臂机器人在运动过程中具有较好的各向同性。经过对该指标的表达式分析和轨迹规划仿真实验研究,结果表明该指标还具有使机器人远离奇异位形并适当增加任务方向的可操作度值的功能。
Other AbstractIn the optimization configuration and trajectory planning of robots,isotropy was often needed to be took into account. However condition number can’t be expressed analytically,so it can’t be used to plan trajectory. In order to improve the isotropy of Dual-armed robot,Dual Arm Isotropy Measure (DAIM)is proposed in this paper,which is familiar to condition number and can be expressed analytically. The robot in the trajectory planned based on DAIM can keep itself better isotropic. According to the analysis of the formula of DAIM and the simulation of trajectory planning,it turns out that configuration based on DAIM could result in the increasing of directional manipulability value and singular configuration of robot could be avoided.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/21459
Collection智能产线与系统研究室
Corresponding Author郭鹏
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院大学
3.沈阳建筑大学
Recommended Citation
GB/T 7714
郭鹏,房灵申,谷侃峰,等. 基于各向同性指标的双臂机器人轨迹规划[J]. 机械设计与制造,2017(12):173-176.
APA 郭鹏,房灵申,谷侃峰,&邹媛媛.(2017).基于各向同性指标的双臂机器人轨迹规划.机械设计与制造(12),173-176.
MLA 郭鹏,et al."基于各向同性指标的双臂机器人轨迹规划".机械设计与制造 .12(2017):173-176.
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