摘要
采用用于冗余度机器人求解的扩展雅克比方法,通过引入次级任务实现了冗余度机器人的周期性控制.介绍了自行研制的4自由度轻型机器人,以指定的空间轨迹作为主要操作任务,采用姿态控制作为次级任务,对4自由度冗余机器人进行了逆运动学求解和实验验证.并给出了机器人关节空间的期望变量,得到了关节空间和笛卡尔空间的轨迹误差.
The extended Jacobian method used to solve the inverse kinematics of redundant robot was employed to realize the repeatable control of the robot by dint of the introduction of the secondary task. A new self-developed 4 DOF lightweight manipulator was introduced. Taking a specified 3 dimensional trajectory as the main task and the attitude control as the secondary task, the inverse kinematics of the manipulator was solved and the experiment was carried out. The desired variables for joint space of the manipulator were pro- vided, and then the trajectory errors in the joint space and Cartesian space were obtained in the experiments.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2009年第5期34-36,85,共4页
Journal of Harbin Institute of Technology
基金
国家高技术研究发展计划资助项目(2008AA12A213)
关键词
扩展雅克比方法
冗余度机器人
逆运动学
extended Jacobian method
redundant manipulator
inverse kinematics
