王英石, 孙雷, 刘景泰. 基于空间几何方法的乒乓球机器人最优姿态求取[J]. 机器人, 2014, 36(2): 203-209. DOI: 10.3724/SP.J.1218.2014.00203
引用本文: 王英石, 孙雷, 刘景泰. 基于空间几何方法的乒乓球机器人最优姿态求取[J]. 机器人, 2014, 36(2): 203-209. DOI: 10.3724/SP.J.1218.2014.00203
WANG Yingshi, SUN Lei, LIU Jingtai. Optimal Pose Solution Based on Space Geometry Method for Pingpong Robot[J]. ROBOT, 2014, 36(2): 203-209. DOI: 10.3724/SP.J.1218.2014.00203
Citation: WANG Yingshi, SUN Lei, LIU Jingtai. Optimal Pose Solution Based on Space Geometry Method for Pingpong Robot[J]. ROBOT, 2014, 36(2): 203-209. DOI: 10.3724/SP.J.1218.2014.00203

基于空间几何方法的乒乓球机器人最优姿态求取

Optimal Pose Solution Based on Space Geometry Method for Pingpong Robot

  • 摘要: 首先分析了仿人机器人手臂的空间几何构型,特别是针对在给定任务下末端执行器的姿态约束不完整的情况.并在此基础上,以机器人手臂的整体动能最小为目标,优化球拍绕其法线方向的旋转角.同时从整个机器人手臂动能的方面对机器人手臂的末端执行器姿态进行优化分析,并确定最优条件,即手臂所构成的平面与球拍运动速度向量所形成的平面互相垂直,然后根据最优条件及各连杆间的关系建立方程,求解出最优的末端姿态角,以减少机器人手臂运动所引起的振动.最后,通过仿真结果从动能求取和轨迹规划等方面验证了提出的方法的有效性.

     

    Abstract: Firstly, the solid geometrical configuration of the humanoid robot's arm is analyzed, especially the case that constraints on the posture of end-effector are incomplete for the given task. On that basis, rotation angle around the bat's normal direction is optimized to minimize kinetic energy of the entire robot's arm. Meanwhile, the posture of the endeffector is analyzed to make it optimal on the basis of the whole arm's energy optimization and the optimal condition is determined, namely, the plane constructed by the arm is perpendicular to the plane constructed by the velocity vector of the bat's motion. Then, the equations are built on the basis of the optimal condition and the relations between each link, subsequently the optimal end posture is obtained, so that the vibration generated by the robot arm's motion is reduced. Finally, the method's validity is demonstrated by the kinematic simulations from the view of the kinetic energy's solution and the trajectory planning.

     

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