柔性冗余度机器人运动规划的最小能量法

On Motion Planning of Flexible Redundant Robot Maanipulators by Minimal Energy Method

柔性机器人的末端运动规划是机器人领域的重要前沿课题之一。利用冗余度机器人的自运动 ,可能使柔性机器人精度提高 ,但目前的研究大多是基于伪逆解的最优规划。本文首次在最小能量意义下对柔性冗余度机器人的最优规划进行了研究 ,以具有两冗余度的平面四柔性臂机器人为例进行了最优规划 ,通过与伪逆解方法比较 ,充分显示了最小能量法在柔性机器人最优规划中的重要作用。

Motion planning of flexible robot manipulators is an advanced topic in the field of robotics. The precise tracking of the end effector trajcetory of flexible robots can be improved through the self motion of redundant manipulators. The optimal programming of flexible redundant robot manipulators based on the pseudoinverse solution has been considered in the past few years. The present study addresses the optimal programming of the robot manipulators in the sense of minimal kinetic energy for the first time. Compared with the pseudoinverse soulution, the optimal programming of a flexible robot manipulator considering kinetic energy is carried out. The numerical example of a planar flexible manipulator with two degree of redundancy demonstrates that the minimal energy method is very effective in the optimal programming of flexible robot manipulators.