一类非完整机械手的链式变换特性及其运动规划方法

中国机械工程

一类非完整机械手的链式变换特性及其运动规划方法

李亮1;刘一方2;谭跃刚3

1.宝鸡文理学院机械工程学院,宝鸡,721016
2.中国长江动力集团有限公司,武汉,430070
3.武汉理工大学机电工程学院，武汉，430070

出版日期:2017-08-25 发布日期:2017-08-24
基金资助:
陕西省自然科学基础研究计划资助项目（2016JM5019）；
陕西省教育科学"十三五"规划资助项目（SGH16H161）；
宝鸡科技计划资助项目（16RKX1-30）

Chained Form Conversion and Motion Planning Method for a Nonholonomic Manipulator

LI Liang1;LIU Yifang2;TAN Yuegang3#br#

1.School of Mechatronic Engineering，Baoji University of Arts and Sciences，Baoji，Shaanxi,721007
2.China Chang Jiang Energy Corp.(Group)，Wuhan，430070
3.School of Mechanical and Electronic Engineering，Wuhan University of Technology，Wuhan，430070

Online:2017-08-25 Published:2017-08-24
Supported by:
Shaanxi Provincial Natural Science Basic Research Program (No. 2016JM5019)

摘要/Abstract

摘要： 针对一类非完整三关节机械手提出了规避链式逆变换奇异位形的运动规划方法。根据非完整机械手的结构特点分离出广义坐标向量中的自由变量，将其边界值作为控制输入中的待定系数进行求解。对于非完整机械手在链式逆变换过程中出现的奇异性问题，提出令链式空间中一条轨迹向关节空间映射有解的不等式约束条件，利用增加附加位形约束的方法来规避非完整机械手的链式逆变换奇异位形。仿真与实验结果证明了运动规划算法的可行性与有效性。

关键词: 非完整机械手, 链式变换, 奇异位形, 运动规划

Abstract: A motion planning algorithm was proposed to avoid the inverse chained form conversion singularity of nonholonomic three-joint manipulators. Free variables of generalized coordinates were separated according to the structural features of nonholonomic manipulators. Then the boundary values of variables acted as undetermined coefficients of control inputs. Inequality constraints were proposed to make sure that a trajectory in chained form spaces might be mapped into joint spaces for singularity of inverse chained form conversion. Additional constraints were used to avoid singular configuration of the inverse chained form conversion. Results of simulations and experiments prove the feasibility and effectiveness of this motion planning algorithm.

Key words: nonholonomic manipulator, chained form conversion, singular configuration, motion planning

中图分类号:

TP24

李亮1;刘一方2;谭跃刚3. 一类非完整机械手的链式变换特性及其运动规划方法[J]. 中国机械工程.

LI Liang1;LIU Yifang2;TAN Yuegang3. Chained Form Conversion and Motion Planning Method for a Nonholonomic Manipulator[J]. China Mechanical Engineering.

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