一种新颖的冗余度机器人及其视觉伺服方案

A New Type of Redundant Robot and the Corresponding Visual Servoing Scheme

视觉伺服冗余度机器人在灵巧操作、装配等领域有很好的应用前景 .为了减少其运动规划的计算量 ,设计了一种具有准万向关节的七自由度机械臂结构 .在此基础上提出了一种基于位姿分散自律速度控制的运动规划方法 :采用速度矢量极小最小二乘分解方法进行腕部运动速度控制 ;根据欧拉角法则正向递推解决操作手的姿态规划问题 .文中还采用数值仿真手段验证了其有效性 .该方法的特点是物理意义明确 ,算法简单 .同时具有一定的运动学鲁棒性 .

There is a prosperous foreground for visual servoing redundant manipulators in some fields such as dexterous manipulation and assembly and so on. In this paper, to reduce the calculation of motion planning, a new type of redundant robot with a quasi-universal joint is presented. Based on this mechanism, a rule of visual servo motion planning for the velocity of the robot position-pose decentralized control is also presented. On the one hand, the manipulator positioning is achieved by decomposing the track velocity vector in joint space with minimal least square method. On the other hand, the pose of gripper is obtained from a recurrence formula of Euler angle. Numerical simulation is adopted to verify the efficiency. This rule has a clear physical interpretation with a smaller amount of calculation then a typical one. Further more, it has a certain robust quality of kinematics.