基于人工约束模式切换的5R机械臂圆弧轨迹控制研究

为了控制5R机械臂跟踪圆弧轨迹或有效避开障碍物,及避免关节空间关节角的不连续,对笛卡尔空间的圆弧运动轨迹采用位置插补,基于两种人工约束模式把笛卡尔空间的位置值逆解到关节空间,利用最小二乘法从获得的所有逆解中选取关节角偏差平方和最小的解,并对末端轨迹和各关节的轨迹进行了仿真。结果表明:机械臂末端圆弧轨迹平滑,各关节角连续变化,运动平稳。

Research of 5-R Manipulator Arc Trace Control Based on Artificial Constraint Mode Switching

In order to control the 5R manipulator to track arc trace or to avoid obstacles effectively, and avoid the discontinuity of joint angle in space, firstly, position interpolation of the arc motion trajectory of the Cartesian space is made. The inverse solution of position value was gotten in Cartesian space to joint space based on two kinds of artificial constraint mode. Then the least square solution of joint angle deviation was obtained by least square method (LSM). Finally, the trajectory of the end and the joints were simulated. The results show that the circular arc trajectory of the end of robot manipulator is smooth, and the joint angles change continuously and the motion is stable.