冗余度机械臂零初始加速度运动规划方案研究

Research on Motion Planning Scheme for Redundant Manipulator with Zero Initial Acceleration

针对冗余度机械臂加速度非零初始值的情况,探讨了一种基于伪逆的加速度层优化控制方案。利用约束函数以使关节从零初始加速度开始运动,并引入关节速度/位置的反馈信息,采用速度/位置误差补偿方法改善运动学方程。通过上述方案对机械臂进行优化控制,可及时减小末端执行器的速度误差和位置误差,从而保证轨迹跟踪的精度。利用MATLAB软件对平面三连杆机械臂跟踪圆形和星形轨迹进行了实验。实验表明末端执行器位置误差在5s内达到10-6 m精度,机械臂能顺利完成跟踪任务。

For the case of non-zero initial acceleration of redundant manipulators,an optimal control scheme of acceleration layer based on pseudoinverse was discussed.The constraint function was used to start the joint from zero initial acceleration,the feedback information of the joint velocity/position was introduced and the velocity/position er-ror compensation method was used to improve the kinematic equation.By optimizing the manipulator,the speed error and position error of the end effector can be reduced in time,so as to guarantee the accuracy of trajectory tracking.U-sing MATLAB software,the simulation experiments of the plane three-link manipulator's tracking circle and star track were carried out.The experiments show that the position error of the end effector is 10-6m in 5s,and the ma-nipulator can complete the tracking task smoothly.