基于能量约束的冗余度机器人灵活性研究

Study on the Dexterity of Redundant Manipulators Based on the Energy Constraint

当考虑到能量的消耗,用方向可操作度作为性能指标所优化出的位形不是灵活性最好的位形。在同一能量约束标准下,提出了能量约束方向可操作度对机器人在任务方向上的灵活性进行评价。算例仿真证明,当考虑到能量的消耗时,用能量约束方向可操作度作为目标函数所优化出的位形在任务方向上的灵活性最好。以这个指标为性能指标对机器人的关节轨迹进行规划时,可以改善机器人的操作位形,提高机器人在任务方向上的灵活性。

The configuration of the optimization results based on the directional manipulability is not the best flexible configuration if considering the energy consumption. A new dexterity indexes—energy constraint directional manipulability was proposed to evaluate the dexterity of manipulator on the task direction based on the same energy constraint criteria. The simulation demonstrates that the dexterity of the configuration is the best on the task direction that optimized by the energy constraint directional manipulability as the objective function when considering the energy consumption. In the joint trajectory planning,this dexterity indexes can be used as the performance index to improve the operation configuration of the robot,and improve the dexterity of the robot on the task direction.