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9-DOF超冗余机器人轨迹规划优化算法

DOI: 10.13190/jbupt.200802.20.095, PP. 20-25

Keywords: 超冗余,避关节极限,容错,轨迹规划,优化

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Abstract:

以太空舱内机器人系统9-自由度(DOF)超冗余模块机器人为研究对象,以避关节极限作为优化指标,考虑容错性能,利用微分运动的方法,分别提出了适于计算机迭代计算的冗余机器人在笛卡儿空间进行手爪姿态可变时的直线轨迹优化算法和手爪经过空间中任意不共线3点决定的平面内的圆弧轨迹优化算法。在优化算法的验证实验中,实现了利用冗余机器人完成直线轨迹拉抽屉、抓棒料和圆弧轨迹开厨门等动作。

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