摘要
分析了冗余度双臂机器人进行轴孔装配的运动学约束关系,设计了一种分层递阶控制结构.通过三维图形动态仿真,在冗余度双臂机器人协调控制实验平台上进行了实验.仿真和实验结果表明该方法能够顺利地完成双臂协调插孔的作业.
The kinematic constraint relations for shaft and hole mating of redundant dual-arm robot are analyzed and a hierarchical control structure is designed. By means of 3-D dynamic graphic simulation, the shaft and hole mating experiment is performed on the cooperative control experiment platform of redundant dual-arm robot. Simulation and experiment results show that this method can make the redundant dual-arm robot complete shaft and hole mating smoothly.
出处
《机器人》
EI
CSCD
北大核心
2006年第4期422-427,共6页
Robot
基金
国家863计划资助项目(2002AA742004)
北京科技新星计划资助项目(H020821450120)
关键词
冗余度机器人
双臂协调
轴孔装配
松协调
分层递阶结构
redundant manipulator
coordination of dual arms
shaft and hole mating
loose coordination
hierarchical structure
