赵京, 白师贤. 冗余度分解对冗余度机器人关节弹性变形的影响[J]. 机器人, 1998, 20(1): 37-43.
引用本文: 赵京, 白师贤. 冗余度分解对冗余度机器人关节弹性变形的影响[J]. 机器人, 1998, 20(1): 37-43.
ZHAO Jing, BAI Shixian. THE EFFECTS OF REDUNDANCY RESOLUTION ON JOINT ELASTIC DEFLECTION OF REDUNDANT ROBOTS[J]. ROBOT, 1998, 20(1): 37-43.
Citation: ZHAO Jing, BAI Shixian. THE EFFECTS OF REDUNDANCY RESOLUTION ON JOINT ELASTIC DEFLECTION OF REDUNDANT ROBOTS[J]. ROBOT, 1998, 20(1): 37-43.

冗余度分解对冗余度机器人关节弹性变形的影响

THE EFFECTS OF REDUNDANCY RESOLUTION ON JOINT ELASTIC DEFLECTION OF REDUNDANT ROBOTS

  • 摘要: 当机器人高速运动时,由于关节弹性而产生的末端变形将会影响机器人的跟踪精度.本文以具有弹性关节的冗余度机器人为对象,就冗余度分解对机器人关节弹性变形的影响进行了研究.首先,以关节弹性变形为性能指标,提出了冗余度分解的常量权系数法.然后,在此基础上又进一步提出了两种改进方法,即变量权系数法和切换法.前者是利用变量权系数自动地调整角加速度对总目标函数的影响程度;而后者是利用门槛函数来实现不同的冗余度分解法间的相互切换.同时,还给出了利用这两种改进方法获得关节弹性变形最优解的必要条件.最后,本文以平面3R机器人为例进行了仿真研究,并将不同方法做了比较.研究结果表明,这两种改进方法具有良好的全局特性.

     

    Abstract: When a robot operates at high speed,the deflection of its end-effector due to joint elasticity will affect the tracking precision of the robot.Redundant robots with elastic joints are considered study objects in this paper. The effects of redundancy resolution on joint elastic deflection of robots are researched. First,a redundancy resolution method called constant weight factor method is proposed by using joint elastic deflection as a performance index. And then based on this method,two improved methods, variable weight factor method and exchange method ,are presented further.The former uses a variable weight factor to automatically adjust angular acceleration′s influence on general objective function; the latter uses a threshold function to realize the exchange between two different resolution methods. At the same time, a necessary condition for the two improved methods to obtain optimal solutions is also given.Finally, a planar 3R redundant robot is used to make a simulation research, and comparisons among the three methods are also made .Study results show that the two improved methods have a good global characteristic.

     

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