欧拉角和等效轴角参数表示下机械腕的轨迹规划和奇异性分析

Singularity and Trajectory Planning of the Mechanical Wrist in Euler Angles and Equivalent Axis Angle by Parameters Representation

为了解决机械腕的控制问题,研究了由欧拉角和等效轴角参数表示的数学奇点。通过计算角速度和角加速度,研究机械腕的奇异位形,并根据它们之间的关系,设计了三种轨迹规划方案,以保证机械腕运动的连续性和稳定性,以及机械腕姿态的优雅性和简洁性,实现实时控制。

Aiming at the control problem of mechanical wrist,the mathematical singularities expressed by Euler angle and equivalent axial Angle parameters were studied.By calculating the angular velocity and angular acceleration,the singular configuration of the mechanical wrist was studied,and according to the relationship between them,three kinds of trajectory planning schemes were designed to ensure the continuity and stability of the movement of the mechanical wrist,as well as the elegance and conciseness of the posture of the mechanical wrist,so as to realize the real-time control.