DISCONTINUOUS TRAJECTORY TRACKING BASED ON MACRO MICRO MANIPULATOR SYSTEM
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摘要: 针对宏-微机器人跟踪不连续轨线，本文采用轨线分割的方法．轨线分割的结果，宏机械手的期望轨迹为一条连续轨线，轨线中的不连续部分将由微机械手跟踪；同时，宏-微机器人这一冗余系统变为两个非冗余系统，按照两个非冗余系统分别进行轨迹规划；微机械手除了完成分割的任务外，对宏机械手的轨迹误差在线补偿；4自由度宏-微机器人仿真和实验证明了本文方法的有效性Abstract: Referring to the uncontinuous trajectory tracking of macro-micro manipulator systems, this paper presents a kind of strategy of task division. As this result, the desired trajectory of macro manipulator is continuous and the discontinuous parts are tracked by Micro manipulator;the redundant system can be considered as two non-redundant systems;trajectory planning is completed independently. By the fast motion of Micro manipulator, the trajectory errors of macro manipulator are compensated on-line. Effectiveness of this strategy is demonstrated by the simulation and experiments carried out on our four degree macro-micro manipualtor systems.
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Keywords:
- Macro-micro manipulator /
- task division /
- trajectory tracking
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