[1]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):737-740.[doi:10.3969/j.issn.1001-0505.2003.06.014]
 Luo Xiang,Tian Mengqian,Yan Jingping.Geometric structure based self-motion planning for redundant robots[J].Journal of Southeast University (Natural Science Edition),2003,33(6):737-740.[doi:10.3969/j.issn.1001-0505.2003.06.014]
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基于构形的冗余度机器人自运动规划方法()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
33
期数:
2003年第6期
页码:
737-740
栏目:
自动化
出版日期:
2003-11-20

文章信息/Info

Title:
Geometric structure based self-motion planning for redundant robots
作者:
罗翔 田梦倩 颜景平
东南大学机械工程系,南京 210096
Author(s):
Luo Xiang Tian Mengqian Yan Jingping
Department of Mechanical Engineering, Southeast University, Nanjing 210096, China
关键词:
冗余度机器人 自运动 运动规划
Keywords:
redundant robot self-motion motion planning
分类号:
TP242.6
DOI:
10.3969/j.issn.1001-0505.2003.06.014
摘要:
研究能够直接通过视觉信息进行实时规划的自运动规划方法.冗余度机器人的自运动受到构形约束.从构形出发就能够采用矢量方法规划机器人的自运动.以YJP-1型7自由度机器人为例,针对一类具有旋转自运动主平面的一冗余度机器人,采用基于线性约束的最小二乘法思想,即把机器人末端的运动速度为零作为线性约束条件,代入求机器人自运动逆解的极小最小二乘方程式中进行处理,得到自运动的解析表达式.数值仿真和实验验证了这种算法的有效性.
Abstract:
This paper tries to develop a real-time self-motion planning algorithm for vision-guiding robots. Self-motion of a redundant robot is determined by its geometric structure. So it is reasonable to plan the self-motion of redundant robots using a vector-based rule on the analysis of their geometric structure. In this paper, using a sort of redundant robot like YJP-1 manipulator, which has one redundant degree of freedom and a revolving chief plane of self-motion, a minimal least square algorithm under a set of linear constraints is introduced to obtain a vector-based self-motion plan. In the algorithm, the fact that the velocity of the end-effector must always be zero in self-motion is treated as a set of constraints condition. By this method, a unified expression for self-motion planning is obtained. Numerical simulation and experiments are also presented in the paper to verify the algorithm.

参考文献/References:

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相似文献/References:

[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.[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(6):28.[doi:10.3969/j.issn.1001-0505.2001.05.007]
[2]席文明,吴洪涛,罗翔,等.机器人相对雅可比矩阵解析求解方法研究[J].东南大学学报(自然科学版),2002,32(4):614.[doi:10.3969/j.issn.1001-0505.2002.04.017]
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备注/Memo

备注/Memo:
基金项目: 江苏省自然科学基金资助项目(BK2002405).
作者简介: 罗翔(1968—),男,博士,讲师, luox@seu.edu.cn.
更新日期/Last Update: 2003-11-20