基于约束关系的服务机器人双臂协同运动控制研究

Research on Coordinated Motion Control for Service Robot Arms Based on Constrained Relations

为了提高家居服务机器人在双臂协同运动作业时的准确性和安全性,提出了一种基于约束关系的双臂协同运动控制算法。通过对机器人双臂坐标系模型的建立以及运动学正逆解的分析,结合双臂运动中位置、姿态及各关节速度之间的约束关系,实现了机器人较精确的双臂协同运动。本算法已经成功应用于所研究的家居服务机器人,实验结果表明,算法具有精确度高、实时性好的特点。

In order to improve the accuracy and safety of the coordinated motion operation of the home service robot arms,a motion control algorithm based on constrained relationship is presented.Through the establishment of the coordinate system model and the forward and inverse analysis of kinematics and with the constrained relationship of position,pose and joint velocity,the coordinated motion of the robot arms is achieved more accurately.This algorithm has been successfully applied to the home service robots.The results show that the algorithm features high accuracy and good real-time performance.