双臂机器人基于最优载荷分配的关节轨迹规划

Joint Trajectory Planning with Minimal Load Distribution for Dual-Arm Robot

基于最优载荷分配 ,针对双臂机器人协调运动的关节轨迹规划进行研究 .首先给出双臂协调运动的运动学和动力学方程 ,引入广义杆及其质量特征量 ,将动力学方程中的惯性矩阵和哥氏力离心力重力项以及载荷影响转化为广义杆关节广义驱动力的计算 ;其次 ,引入Lagrangian乘子 ,在关节轨迹规划中避免了矩阵的奇异值分解 .本文的规划方法具有递推性强和计算效率高的特点 。

Based on the minimal load distribution, the joint trajectory planning was researched for coordinate motion of dual-arm robot in this paper. First, the equations of kinematic and dynamic is given for coordinate motion of dual-arm robot;using the generalized link and its mass characteristics, the calculation of inertia matrix and Coriolis, centrifugal, gravity terms and load influence are transformed into the calculation of joint generalized driving forces of the generalized link. Then, introducing the Lagrangian Multpliers, the Singular Value Decomposition of matrices are avoided in the joint trajectory planning . Our method has fine recursive and efficient of calculation,which is suitable for the real-time control of dual-arm robot.