重复运动速度层和加速度层方案的等效性

Equivalence of Different-level Schemes for Repetitive Motion Planning of Redundant Robots

探讨冗余机械臂之重复运动规划(Repetitive motion planning,RMP),对应速度层重复运动规划方案,提出了加速度层重复运动规划方案,并进一步发现和探讨了速度层与加速度层RMP方案的等效性关系.基于神经动力学方法的理论分析和基于PUMA560机械臂的计算机仿真结果均证实了本文所提出的加速度层RMP方案在冗余度解析问题上的有效性,以及速度层和加速度层RMP方案的等效性.

A repetitive-motion-planning （RMP） scheme at the acceleration-level of redundant robot manipulators is proposed, and its equivalence to the RMP scheme at velocity-level is discov- ered and investigated. Both theoretical analysis neural-dynamic method and computer simulations performed on PUMA 560 robot manipulator demonstrate the efficacy of the proposed acceleration-level RMP scheme, and validate the equivalence of the RMP schemes at two different levels.