七自由度自动铺丝机器人的自运动流形分析

Analysis of a 7-DOF Automated Fiber Placement Robotic Manipulator's Self-Motion Manifolds

定义了位姿解耦的冗余自由度机器人位置关节空间流形和姿态关节空间流形,将位置关节空间流形和姿态关节空间流形进行配对得到冗余自由度机器人的自运动流形。利用定义的位置关节空间流形和姿态关节空间流形对七自由度自动铺丝机器人进行分析,分别得出七自由度自动铺丝机器人的位置关节空间流形和姿态关节空间流形,配对以后得出七自由度自动铺丝机器人的自运动流形,并进行了仿真验证,结果表明这种分析方法得到的自动铺丝机器人的自运动流形是正确的,而且对于其他类型位姿解耦的冗余自由度机器人自运动流形分析也是适用的。

The position joint space manifold and posture joint space manifold of a redundant robotic manipulator were defined, whose position and posture were decoupled, the redundant robotic manipulator＇s self--motion manifold can be obtained by pairing these manifolds. A 7--DOF automa- ted fiber placement robotic manipulator was analyzed using the defined self--motion manifolds, and its self--motion manifolds were obtained. The results show that the automated fiber placement robotic manipulator＇s self--motion manifold is correct using this method by simulation, and this method is al- so applicable in analyzing the self--motion manifold of the redundant robotic manipulator which the position and posture are decoupled.