[1]罗翔,颜景平.一种新颖的冗余度机器人及其视觉伺服方案[J].东南大学学报(自然科学版),2001,31(5):28-32.[doi:10.3969/j.issn.1001-0505.2001.05.007]
　Luo Xiang,Yan Jingping.A New Type of Redundant Robot and the Corresponding Visual Servoing Scheme[J].Journal of Southeast University (Natural Science Edition),2001,31(5):28-32.[doi:10.3969/j.issn.1001-0505.2001.05.007]
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一种新颖的冗余度机器人及其视觉伺服方案()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
31
期数:
2001年第5期
页码:
28-32
栏目:
自动化
出版日期:
2001-09-20

文章信息/Info

Title:
A New Type of Redundant Robot and the Corresponding Visual Servoing Scheme
作者:
罗翔;  颜景平
东南大学机械工程系, 南京 210096
Author(s):
Luo Xiang;  Yan Jingping
Department of Mechanical Engineering, Southeast University, Nanjing 210096, China)
关键词:
冗余度机器人;  运动规划;  视觉伺服
Keywords:
redundant robot;  motion planning;  visual servoing
分类号:
TP242
DOI:
10.3969/j.issn.1001-0505.2001.05.007
摘要:
视觉伺服冗余度机器人在灵巧操作、装配等领域有很好的应用前景.为了减少其运动规划的计算量,设计了一种具有准万向关节的七自由度机械臂结构.在此基础上提出了一种基于位姿分散自律速度控制的运动规划方法:采用速度矢量极小最小二乘分解方法进行腕部运动速度控制; 根据欧拉角法则正向递推解决操作手的姿态规划问题.文中还采用数值仿真手段验证了其有效性.该方法的特点是物理意义明确,算法简单.同时具有一定的运动学鲁棒性.
Abstract:
There is a prosperous foreground for visual servoing redundant manipulators in some fields such as dexterous manipulation and assembly and so on. In this paper, to reduce the calculation of motion planning, a new type of redundant robot with a quasi-universal joint is presented. Based on this mechanism, a rule of visual servo motion planning for the velocity of the robot position-pose decentralized control is also presented. On the one hand, the manipulator positioning is achieved by decomposing the track velocity vector in joint space with minimal least square method. On the other hand, the pose of gripper is obtained from a recurrence formula of Euler angle. Numerical simulation is adopted to verify the efficiency. This rule has a clear physical interpretation with a smaller amount of calculation then a typical one. Further more, it has a certain robust quality of kinematics.

参考文献/References:

[1] Deo A S,Walker I D.Minimum effort inverse kinematics for redundant manipulators.IEEE Trans Robot Automat,1997,13(5):767～775
[2] Hutchinson S,Hager G D,Corke P I.A tutorial on visual servo control.IEEE Trans Robot Automat,1996,12(5):651～670
[3] Wilson W J,Hulls C C W,Bell G S.Relative end-effector control using cartesian position based visual servoing.IEEE Trans Robot Automat,1996,12(5):684～696
[4] 郑南宁.计算机视觉与模式识别.北京:国防工业出版社,1998.248～276
[5] 苏剑波,冯纯伯.机器人抓取运动目标的轨迹规划方法.机器人,1994,16(2):70～76

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　Xi Wenming,Wu Hongtao,Luo Xiang,et al.Study of new analytic solution of robotic relative Jacobian matrix[J].Journal of Southeast University (Natural Science Edition),2002,32(5):614.[doi:10.3969/j.issn.1001-0505.2002.04.017]
[2]罗翔,田梦倩,颜景平.基于构形的冗余度机器人自运动规划方法[J].东南大学学报(自然科学版),2003,33(6):737.[doi:10.3969/j.issn.1001-0505.2003.06.014]
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备注/Memo

备注/Memo:
作者简介:罗翔,男,1968年生,博士研究生.
基金项目:中国国家计委211工程资助项目(2102002001).
更新日期/Last Update: 2001-09-20