食品配料机器人位置误差容错运动规划方法

Position Fault-Tolerant Motion Planning of Ingredients Preparation Robot for Food

食品配料机器人在狭窄空间作业过程中,为灵活利用作业空间而需要移动基座,从而导致末端执行器偏离期望位置。针对该问题,提出一种基于伪逆的位置误差容错方案。根据机械臂运动过程中实时产生的位置误差来设计末端笛卡尔轨迹速度;基于伪逆求解的方法设计机械臂的运动规划方案,消除由于基座移动引起的末端执行器的位置误差;以基座可移动的四自由度机械臂为例进行MATLAB仿真试验,对比性的仿真结果验证该容错方案的有效性和可行性。

In order to work effectively in the narrow operation space, the ingredients preparation robot needs to move the base, which lead to deviation from the desired position of the end-effector. To deal with such problem, a psuedoinverse type based position fault-tolerant motion planning scheme was proposed. The end-effector Cartesian velocity was designed based on the end-effector position error generated in real time during the motion of the manipulator. The motion scheme of the robot manipulator was designed based on the pseudo-inverse solution method to eliminate the position error of the end-effector caused by the movement of the base. The MATLAB simulation experiments were carried out with the movable four-degree-offreedom manipulator. The comparative simulation results verified the effectiveness and feasibility of the fault-tolerant scheme.