摘要
阐述了移动操作臂的研究现状和关键技术。移动操作臂在传统轻量高自由度机械臂的基础上结合自主移动平台,极大地扩展了灵活工作空间,提高了工作柔性,更适应复杂的工作环境和工作要求。通过分析几种典型移动操作臂的结构设计和功能指标,探讨了移动操作臂的本体结构设计、运动过程控制、路径规划、移动定位导航以及多移动操作臂协作等关键技术,展望了移动操作臂的发展趋势和应用前景。
This paper presents the research status and key technology of mobile manipulators around the world. Mobile manipulators are builted by mobile platforms and lightweight manipulators with high DOF. They have greater and more flexible working space and compliancewhich make them better in more complex work environment. In this paper, seversal typical mobile manipulators are analyzed about their structure design and performance. The key technologies of structure de- sign of mobile manipulators, motion control, localization and navigation, path planning and multiple mobile manipulators co- ordinate are discussed and developmenting trend and applications are described in the end.
出处
《工具技术》
北大核心
2017年第5期3-8,共6页
Tool Engineering
关键词
移动操作臂
运动控制定位导航路径规划
移动操作臂协作
mobile manipulators
motion control localization and navigation path planning
multiple mobile manipula- tors coordinate
