基于可重复性优化的冗余机器人运动控制研究

Research on redundant robot motion control based on repeatability optimization

针对机器人自由度冗余导致系统多解、实时求解困难等问题,设计了一种基于可重复性优化的冗余机器人实时求解方法。机器人的运动控制解包括两部分:保证机器人完成给定运动的特解与实现可重复性优化的齐次解;同时设计了一个实时变化的速度系数,保证了机器人在整个运动周期中速度的平滑性。以平面四关节机器人为对象的仿真验证了所设计方案的有效性。

A real-time solution method for redundant robots based on repeatability optimization is designed to solve the problems of multi-solution and real-time solution caused by redundancy of robot degrees of freedom.The motion control solution of the robot consists of two parts: one is to ensure the robot completes the special solution of given motion and the other is to realize the homogeneous solution of repeatability optimization; the other is to design a real-time variable velocity coefficient to ensure the smooth speed of the robot in the whole motion cycle.The effectiveness of the proposed scheme is verified by simulation of a planar four joint robot.