具有弹性关节的两协调冗余度机器人的关节轨迹规划
THE JOINT TRAJECTORY PLANNING OF TWO COORDINATING REDUNDANT ROBOTS WITH JOINT ELASTICITY
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摘要: 本文针对考虑关节弹性的两冗余度机器人协调操作中的关节轨迹规划问题进行了研究．提出了最小力矩法和最小变形法两种最优规划策略，并利用这两种方法对两个考虑关节弹性的平面3R机器人抓持同一刚体的协调操作进行了仿真分析．Abstract: In this article, the problem of joint trajectory planning in the coordinated manipulation of redundant robots with joint elasticityis researched. Two optimal schemes, i. e., minimum torque method andminimum deflection method, are proposed.Simulation analyses for two planar 3R redundant robots with joint elasticity handling a single object are also made by using these methods.
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