一种位姿耦合式冗余度机器人的自运动流形

Self-Motion Manifold of a Redundant Robot with Coupled Pose

位姿耦合的冗余度机器人用传统的求解矩阵方程法不易得到其自运动流形的解析解。笔者基于运动等效思想将末端操作器的位姿看作是关节顺次运动的结果,以向量代数为工具给出了一种串并复合、位姿耦合的冗余度机器人自运动流形的解析求解方法,在此基础上深入讨论末端操作器各位移子群中元素对应的自运动流形的不同,给出自运动流形的解析表达式。最后通过末端操作器两个常用位移子群中自运动流形的算例和相关实验验证了自运动流形求解算法的有效性。

The self-motion manifold analytic solution of a redundant robot with coupled position and orientation is difficult to obtain by the traditional method via solving matrix equation. The pose of the end manipulator are considered as the result of the joints＇ ordinal motion according to the equivalence principle, so the closed analytic solution for self-motion of this redundant robot with coupled pose and paraUel/series hybrid configuration is obtained via vector algebra. Then, the difference of the elements in the whole displacement sub-groups is discussed, and their closed form solution is obtained. Finally, calculation examples of the element in two common sub-groups and corre- sponding experiment are provided to validate the algorithm. The kinematics performance optimization of this redundant robot can be guided by the self-motion manifold mentioned in this paper. This method for kinematics analysis based on motion equivalence principle and vector algebra can also be used for other robots with different joint types.