The space manipulator is always designed to have 7 degrees of freedom（Dofs）with the consideration of energy limitation,as well as the flexible moving possibility.Therefore,how to plan the trajectory is important to ...The space manipulator is always designed to have 7 degrees of freedom（Dofs）with the consideration of energy limitation,as well as the flexible moving possibility.Therefore,how to plan the trajectory is important to improve the performance of the manipulator.In this paper,the speed of the end effector is configured as a projecting parameter,when a constant acceleration is applied to adjust the velocity.To implement this trajectory planning strategy,an optimization algorithm through the pseudo inverse of Jacobin matrix is designed,which adjusts the weight functions of joints.According to the functional theory,this algorithm is analyzed and the optimal solution is found in numerous sets of planning.A MATLAB simulation platform is established and the results verity the effectiveness of the algorithm.展开更多
Starting from the characteristics of fruit picking,the characteristics of fruit picking robot manipulators and the research state at home and abroad are reviewed.The analysis summarizes the difficulties in fruit picki...Starting from the characteristics of fruit picking,the characteristics of fruit picking robot manipulators and the research state at home and abroad are reviewed.The analysis summarizes the difficulties in fruit picking robotic arm research.Aiming at the configuration of the manipulator,the structure and characteristics of the manipulator with redundant degrees of freedom are introduced,and the feasibility of the redundant mechanism is demonstrated through the current research state of the manipulator.展开更多
基金Supported by the National High Technology Research of China(2015AA043101,2015BAF10B02)Basic Scientific Research(B2220133017)National Natural Science Foundation of China(61503029,61573063)
文摘The space manipulator is always designed to have 7 degrees of freedom（Dofs）with the consideration of energy limitation,as well as the flexible moving possibility.Therefore,how to plan the trajectory is important to improve the performance of the manipulator.In this paper,the speed of the end effector is configured as a projecting parameter,when a constant acceleration is applied to adjust the velocity.To implement this trajectory planning strategy,an optimization algorithm through the pseudo inverse of Jacobin matrix is designed,which adjusts the weight functions of joints.According to the functional theory,this algorithm is analyzed and the optimal solution is found in numerous sets of planning.A MATLAB simulation platform is established and the results verity the effectiveness of the algorithm.
基金National Natural Science Foundation of China(51305402)。
文摘Starting from the characteristics of fruit picking,the characteristics of fruit picking robot manipulators and the research state at home and abroad are reviewed.The analysis summarizes the difficulties in fruit picking robotic arm research.Aiming at the configuration of the manipulator,the structure and characteristics of the manipulator with redundant degrees of freedom are introduced,and the feasibility of the redundant mechanism is demonstrated through the current research state of the manipulator.
