多机器人联合吊运系统可行域分析与求解

Analysis and Calculation of Feasible Region of Multi-Robot Combined Lifting System

针对多机器人共同吊运同一个物体形成闭运动链的协调系统,定义了系统的位置可行域和姿态可行域.在给定系统构型的基础上,根据位移约束、速度关系,建立了系统位置运动学模型和姿态运动学模型,并建立了系统的动力学模型.在得到物体位置和姿态的基础上,分析了系统的位置可行域和姿态可行域,并基于蒙特卡罗算法给出了系统位置可行域和姿态可行域的求解方法.在确定的参数条件下,数值计算得到了系统的位置可行域和姿态可行域.位置可行域和姿态可行域的求解为进一步研究系统的轨迹规划、路径跟踪、稳定性等问题奠定了基础.

A closed-loop kinematic chain composed of multi-robots and used to tow a common object was presented and the feasible regions including the position feasible region and the posture feasible region were defined.Based on the given system structure and the relationship displacement and velocity constrain,the position and posture kinematics models of the system were built,and the dynamic model of the system was established.Based on object position and posture,the feasible regions of position and posture were analyzed,and a method to solve the feasible regions of position and posture of the system by Mento-carlo algorithm was given.Finally,under the given parameters conditions,the feasible regions of position and posture of the system by numerical calculation method were obtained,which will lay a solid foundation for future research of trajectory planning,path tracking,and stability of the system.