| 三分支机器人优化关节力矩的轨迹规划 |
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| 引用本文： | 洪磊,贾庆轩,孙汉旭,陈钢. 三分支机器人优化关节力矩的轨迹规划[J]. 机械设计与研究, 2009, 25(2): 52. DOI: 10.13952/j.cnki.jofmdr.a2202 |
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| 作者姓名： | 洪磊 贾庆轩 孙汉旭 陈钢 |
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| 作者单位： | 北京邮电大学,自动化学院,北京,100876;北京邮电大学,自动化学院,北京,100876;北京邮电大学,自动化学院,北京,100876;北京邮电大学,自动化学院,北京,100876 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 基于旋量理论,采用分离影响系数法建立三分支机器人运动学和动力学方程,运用最小范数广义力计算策略优化协调操作臂载荷分配。在此基础上,结合搬运物体的协调操作实例,通过比较最小关节范数法和最小关节力矩法两种规划的优缺点,提出了改进的三分支机器人优化关节力矩轨迹规划方法。仿真结果给出了不同方法条件下,轨迹长度变化对关节角度及力矩大小的不同影响,并验证了改进方法的有效性。
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| 关 键 词： | 三分支机器人 旋量理论 轨迹规划 优化关节力矩 |
Research on Path Planning With Joint Torque Optimization for Trinal-branch Robot |
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| HONG Lei,JIA Qing-xuan,SUN Han-xu,CHEN Gang. Research on Path Planning With Joint Torque Optimization for Trinal-branch Robot[J]. Machine Design and Research, 2009, 25(2): 52. DOI: 10.13952/j.cnki.jofmdr.a2202 |
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| Authors: | HONG Lei JIA Qing-xuan SUN Han-xu CHEN Gang |
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| Affiliation: | School of Automation;Beijing University of Posts and Telcommunications;Beijing 100876;China |
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| Abstract: | Based on screw theory,the method of separating influence coefficient is uesd to establish the kinematics and dynamics equations of trinal-branch robot,in which the method of least-norm generalized forces is introduced to optimize the load distribution between cooridnated operating robot arms.Through the simulation of carrying a single object,an improved algorithm on path planning for joint torque optimization is proposed after comparing with the advantages and disadvantages between least-norm joint angle me... |
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| Keywords: | trinal-branch robot screw theory path planning joint torque optimization |
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