欠驱动冗余度机器人运动优化控制

Motion optimal control of under-actuated redundant robot arm

研究了具有多个被动关节的欠驱动冗余机器人的运动优化控制问题。基于滑模变结构控制方法 ,首先实现了被动关节位置控制 ;进一步利用“虚拟模型引导控制”方法实现了欠驱动冗余度机器人的连续轨迹运动优化控制 ;通过平面三连杆机器人臂进行了避障运动仿真 。

The Optimal control of the under actuated redundant robots is studied in the paper.Based on the VSC controller,a passive joints position control algorithm is developed.Moreover,the optimal control method of the system tracking a manipulator end effector trace at the same time is proposed.The collision avoidance optimal motion control is fulfilled by simulating on a three joints planar under actuated robot arm.The simulation results verified at the proposed algorithm is successful.