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基于任务优先级的仿人机械臂拟人运动规划

Keywords: 仿人机械臂,任务优先级,人臂臂姿指标,臂姿,拟人

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Abstract:

针对液体搬运是日常生活中最常见的动作之一,人臂可非常轻松地完成这一动作,但是对于仿人机械臂而言,如何使其如人臂般灵活地完成这一动作,却并不容易,以仿人机械臂运送水杯作为研究对象,对其进行任务描述.针对完成任务过程中需要同时考虑多个约束的情况,提出采用任务优先级或梯度投影法对其进行处理,并对这2种求解方法进行了比较.同时,对仿人机械臂的拟人化运动控制问题进行了研究,提出利用人臂臂姿指标来对仿人机械臂进行运动规划.最后在Inventor中建立虚拟仿真,并与人臂运动实验结果进行对比,从而验证该方法的可行性以及自主拟人运动的有效性.

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