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基于螺旋理论模块化机器人运动学分析与仿真

陈伟海 周杰 于守谦 吴星明

陈伟海, 周杰, 于守谦, 等 . 基于螺旋理论模块化机器人运动学分析与仿真[J]. 北京航空航天大学学报, 2005, 31(07): 814-818.
引用本文: 陈伟海, 周杰, 于守谦, 等 . 基于螺旋理论模块化机器人运动学分析与仿真[J]. 北京航空航天大学学报, 2005, 31(07): 814-818.
Chen Weihai, Zhou Jie, Yu Shouqian, et al. Kinematic analysis and simulation for modular manipulators based on screw theory[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(07): 814-818. (in Chinese)
Citation: Chen Weihai, Zhou Jie, Yu Shouqian, et al. Kinematic analysis and simulation for modular manipulators based on screw theory[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(07): 814-818. (in Chinese)

基于螺旋理论模块化机器人运动学分析与仿真

基金项目: 国家自然科学基金资助项目(50375008);国家863计划资助项目(2002AA421160)
详细信息
    作者简介:

    陈伟海(1955-),男,浙江象山人,副教授, whchen55@163.com.

  • 中图分类号: TP 242

Kinematic analysis and simulation for modular manipulators based on screw theory

  • 摘要: 基于螺旋理论对模块化机器人的速度级和位移增量级运动学关系进行了分析,开发了模块化冗余度机器人的逆运动学控制算法.针对模块化机器人可能具有任意自由度和任意构型、可以经常快速安装和拆卸、易于可重构且由系列化、标准化部件组合的特性,开发了具有自动建模功能的模块化机器人仿真系统.该仿真系统由模块构造器、机器人建造器、图形示教和运动规划仿真器等分系统组成.通过一个7-DOF模块化串联机器人抓放工件的演示实例验证了所提算法和仿真系统的实用性.

     

  • [1] Dubey R V, Euler J A, Babcock S M. Real-time implementation of an optimization scheme for seven-degree-freedom redundant manipulators [J] IEEE Trans on Robotics & Automation, 1991, 7(5):579~588 [2] 陈伟海, 武 桢, 丁希伦, 等.冗余度机器人动力学容错控制技术研究[J] 北京航空航天大学学报,2002,26(6):726~730 Chen Weihai, Wu Zhen, Ding Xilun, et al. Research on fault-tolerant control of dynamically redundant manipulators[J] Journal of Beijing University of Aeronautics and Astronautics, 2002,26(6):726~730(in Chinese) [3] 李 健,李剑锋,武 桢,等.基于可操作度的单冗余度机器人容错性指标 . 北京航空航天大学学报,2002,28(1):54~57 Li Jian, Li Jianfeng,Wu Zhen,et al. Fault tolerance of redundant manipulators with multi-joint failed and its optimization[J] Journal of Beijing University of Aeronautics and Astronautics, 2002,28(1):54~57(in Chinese) [4] Chen I M, Yang G L.Inverse kinematics for modular reconfigurable robots . In:Proc of IEEE Inter Conf on Robotics and Automation , 1998. 1647~1652 [5] Chen W H, Yang G L, Goh K M. Kinematic control for fault-tolerant modular robots based on joint angle increment redistribution .In:Proc of 7th Inter Conf on Control, Automation, Robotics and Vision , 2002. 396~401 [6] Chen W H, Yang G L, Edwin Ho H L, et al. Interactive motion control of modular reconfigurable manipulators .In:2003 IEEE/RSJ Inter Conf on Intelligent Robots and Systems , 2003.1620~1625 [7] Yang G L, Chen W H, Edwin Ho H L. Design and kinematic analysis of a modular and hybrid parallel serial manipulator .In:Proc of 7th Inter Conf on Control, Automation, Robotic and Vision . Singapore, 2002. 45~50 [8] Chen I M, Yeo S H, Chen G, et al. Kernal for modular robot applications – automatic modelling techaniques [J] Inter Journal of Robotics Research, 1999,18(2):225~242 [9] Brockett R. Robotic manipulators and the product of exponential formula . In:Inter Symposium in Math Theory of Network and Systems . Israel:Beer Sheba,1983.120~129 [10] Park F C. Computational aspect of manipulators via product of exponential formula for robot kinematics[J] IEEE Trans Automatic Control, 1994, 39(9):643~647 [11] Murray R M, Li Z X S. A mathematical introduction to robotic manipulation[M] London:CRC Press, 1994 [12] Li L Y, Gruver W A, Zhang Q X, et al. Real-time control of redundant robots subject to multiple criteria .In:Proc of the 1998 IEEE Inter Conf on Robotics and Automation . Detroit, 1998. 115~120
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出版历程
  • 收稿日期:  2004-10-30
  • 网络出版日期:  2005-07-31

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