摘要
研究以多关节站立型机器人为对象,以日常生活中常见的搬运动作为例,为了生成理想路径,且达到稳定姿态,根据多关节机器人的特点,用重复变换法,对站立型机器人搬运动作轨迹生成进行仿真和考验。通过对搬运过程中各关节所受力矩的逐次评价,逐次更新各个关节姿态,生成了搬运轨迹。仿真实验证明,站立型机器人搬运中,系统稳定,不翻倒,又使其各个关节所受的力矩负担最小,可以完成搬运动作。
This paper studies a multi-joint stance robot,and chooses the daily life of common handling action as an example.According to the characteristics of multi - joint robot,this paper also simulates and studies the trajectory generation of a stance robot in handing movements by using repeatedly direct kinematics.The method of trajectory generation is to evaluate each joint torque and update each joint position successively,so as to the stance robot does not turn over when handling heavy object and also all joints suffer the smallest torque to complete the handling action.
出处
《计算机仿真》
CSCD
北大核心
2010年第7期144-148,共5页
Computer Simulation
关键词
搬运机器人
仿真
重复变换法
Handling robot
Simulation
Repeatedly direct kinematics
