欠驱动机器人动力学运动规划的动态子空间法及控制

DYNAMIC MOTION PLANNING AND CONTROL OF UNDER-ACTUATED MANIPULATORS BASED ON DYNAMIC SUB-SPACE METHOD

欠驱动机器人的关节空间运动是通过主、被动关节间的动力学耦合实现的,系统运动可能发生动力学耦合奇异,使欠驱动机器人的动态操作性能严重降低。针对一般具有任意多个被动关节的开链欠驱动机器人系统,基于动力学分析提出一种优化控制方法,其核心是在欠驱动机器人的全部耦合运动空间中,根据动力学耦合操作性度量,动态构造有限个覆盖全部耦合运动空间的具有最佳耦合度的子空间,使发生在这些子空间中的耦合运动具有余度驱动的特点,从而实现提高欠驱动机器人的动力学耦合度的优化控制。提出的方法通过平面四连杆机器人进行仿真,仿真结果证明了这种方法是可行的。

The motion of passive joints of under-actuated robots is driven by dynamic coupling between the actuated joints and the passive one. The coupling always encounters dynamic singularity, which result in poor manipulability of system. Dealing with the arbitrary under-actuated manipulator, a dynamic optimal method is proposed. The core is construct a finite subspace motion sequences that cover with the full dynamic coupling space according as the coupling measure, the motion occurred in the subspace has redundancy, and can be utilized to optimize the coupling. A simulation on a four links under-actuated manipulator verifies this method.