欠驱动余度机械臂的无碰撞运动规划与控制

MOTION PLANNING AND CONTROL OF UNDERACTUATED REDUNDANT MANIPULATORS WITH OBSTACLE AVOIDANCE

基于周期运动的非线性动力学分析,发现欠驱动机械臀在小幅振动输入条件下有运动漂移现象,即当欠驱动机械臂的主动关节小幅振动时,被动关节的平衡位置将发生漂移。基于这一现象提出了被动关节位置控制的余弦函数小振幅控制方法:把人工势场方法引入冗余度机械臂的避障运动规划,提出了欠驱动冗余度机械臂的虚拟模型运动规划方法:把以上两种方法有机结合,提出了一种欠驱动冗余度机械臂的避障运动规划和控制方案,对平面三连杆欠驱动机械臂进行了仿真,仿真结果表明这一方法是可行的。

The drifting phenomenon of underactuated manipulator is exposed under harmonic input of actuated joints based on the nonlinear dynamic analysis of the systems. On the other word, when the actuated joints are droved by small oscillation, the passive joints of the underactuated manipulators will drift from its equilibration position. Based on this phenomenon, a close-loop control method with small amplitude oscillation is proposed. Furthermore, the artificial potential field technology was introduced to planning the motion of the redundant manipulators, and an integrated motion-planning algorithm considering obstacle avoidance for the underactuated redundant manipulator is suggested. Some simulations of planar 3-DOF manipulator with last one passive joint are shown some aspects of the research.