平面3R冗余度机器人进行避障规划时的混沌

Chaos of planar 3R redundancy robot when carrying out an obstacle avoidance planning

通过仿真及混沌数值分析法中的相图法和最大Lyapunov指数法 ,以平面 3R刚性冗余度机器人为研究对象 ,对基于分解运动控制的机器人末端重复跟踪工作空间内的封闭路径并进行避障规划时的自运动中的混沌现象进行了研究。研究表明 :基于分解运动速度控制方法求解冗余度机器人运动学逆解时 ,其自运动是规则的周期运动 ,而基于分解运动加速度控制方法求解冗余度机器人运动学逆解时 ,其自运动是混沌的。

By means of simulation and phase portrait method of chaos numerical analysis method and largest Lyapunov exponent method, and taking the planar 3R rigid redundancy robot as the object of study, the chaos phenomena in self -motion was studied when end-effectors of the robot with a control of resolved motion were tracing repeatedly a closed path in the working space and carrying out an obstacle avoidance plan. The study shows that the self-motion is a regular movement when resolving the kinematics inverse solution of redundancy robot based on the velocity control method of resolved motion, but the self-motion will be a chaos movement when resolving the kinematics inverse solution of redundancy robot based on the acceleration control method of resolved motion.