摘要
:针对双臂操作球形关节连接的复杂工件的协调运动 ,建立双臂在关节空间的动力学方程和工件的动力学方程 ;以广义接触力 (包括球形关节的约束力 )的最小范数为目标 ,实现最小载荷的优化分配 ;以关节广义驱动力和广义加速度的线性组合构造复合目标函数 ,实现满足最小关节广义驱动力的轨迹规划 .
In this paper, the coordinate motion of dual?arm robot holding a complex object cantaining a spherical joint is developed. First, the dynamic equations of dual arm in joint space and the object are given. Second, the minimal load distribution is realized by using the least norm of generalized contact forces (including constrainted forces of spherical joint) as a objective function. The third, joint trajectory planning with minimal joint generalized driving forces is established by taking the linear combination of joint generalized diving forces and joint generalized acceleration as a objective function.
出处
《信阳师范学院学报（自然科学版）》
CAS
2000年第4期403-407,共5页
Journal of Xinyang Normal University(Natural Science Edition)
基金
河南省自然科学基金!资助项目 (96 4 0 72 2 0 0 )
关键词
双臂机器人
复杂工件
协调运动
广义接触力
载荷分配
关节轨迹规划
dual arm robot
complex object
coordinate motion
generalized contact force
load distribution
joint trajectory planning
