运动学补偿的宏-微机器人连续轨迹控制研究

Research on Continuous Trajectory Tracking Control of Macro Micro Manipulator System Based on Kinematic Compensation

一小机械手附在一大机械手末端构成的系统称为宏 微机器人系统 .介绍了宏 微机器人连续轨迹控制的新方法 .对宏 微机器人的控制在关节空间进行 ,通过微机械手的快速运动对宏机械手的轨迹误差在线补偿 .宏 微机器人轨迹规划离线进行 ,通过任务放大的方法分解宏 微机器人运动学冗余 .

A small manipulator is attached at the tip of a large manipulator, this kind of system can be regarded as macro micro manipulator system. This paper presents a kind of novel control strategy of continuous trajectory tracking of macro micro manipulator system. Tracking errors of macro manipulator are compensated by the fast adjustment of micro manipulator and the control is implemented in joint space. Trajectory planning is completed off line and the kinematic redundancy of macro micro manipulator system is resolved by task augment. Simulation and experiment showed the efficiency of proposed method.