摘要
在几何力学框架下,首先,推导了开链机械臂的反馈Hamel变分积分子,其中用反馈控制算法实现了Hamel积分子的寻根;其次,将上述算法用于计算反应规划的正向动力学,在此基础上将回转力引入传统人工势场法来设计斥力,可以克服传统人工势场法中易陷入势场局部极小的缺点,实现机械臂整臂的实时避障轨迹规划;最后,通过两个数值仿真验证了上述所提算法的有效性.
In this paper,we first derive Hamel s variational integrators for open-chain manipulators in the framework of geometric mechanics,where the roots of Hamel's variational integrators are found by feedback control.Next,we use the above algorithm to solve a forward dynamics problem in reaction planning.As a result,the gyroscopic force is introduced to replace the repulsive force,thus avoiding the local minima dilemma of the artificial potential method,and realizing real-time obstacle avoidance for the whole manipulator.Finally,the effectiveness of the proposed algorithm is illustrated via two numerical examples.
作者
沈伟清
王本亮
史东华
Shen Weiqing;Wang Benliang;Shi Donghua(School of Mathematics and Statistics,Beijing Institute of Technology,Beijing 100081,China)
出处
《动力学与控制学报》
2022年第3期8-14,共7页
Journal of Dynamics and Control
基金
国家自然科学基金资助项目(11872107)。
关键词
几何力学
Hamel变分积分子
反应规划
回转力
geometric mechanics
Hamel's variational integrators
reaction planning
gyroscopic force
