基于宏-微机器人的不连续轨线的跟踪

陈启军, 王月娟, 陈辉堂

陈启军, 王月娟, 陈辉堂. 基于宏-微机器人的不连续轨线的跟踪[J]. 机器人, 2000, 22(5): 337-343.
引用本文: 陈启军, 王月娟, 陈辉堂. 基于宏-微机器人的不连续轨线的跟踪[J]. 机器人, 2000, 22(5): 337-343.
CHEN Qi-jun, WANG Yue-juan, CHEN Hui-tang. DISCONTINUOUS TRAJECTORY TRACKING BASED ON MACRO MICRO MANIPULATOR SYSTEM[J]. ROBOT, 2000, 22(5): 337-343.
Citation: CHEN Qi-jun, WANG Yue-juan, CHEN Hui-tang. DISCONTINUOUS TRAJECTORY TRACKING BASED ON MACRO MICRO MANIPULATOR SYSTEM[J]. ROBOT, 2000, 22(5): 337-343.

基于宏-微机器人的不连续轨线的跟踪

详细信息
    作者简介:

    陈启军(1966- ),男,副教授,研究领域:机器人控制与智能控制.
    王月娟(1935- ),女,教授,博士生导师,研究领域:机器人控制与智能控制.
    陈辉堂(1933- ),男,教授,博士生导师,研究领域:机器人控制与智能控制.

  • 中图分类号: TP24

DISCONTINUOUS TRAJECTORY TRACKING BASED ON MACRO MICRO MANIPULATOR SYSTEM

  • 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.
  • [1] 苏步青.华积宣.应用几何教程.复旦大学出版社,1990,12.
    [2] Khatib O. Reduced Effective Inertia in Macro-Mini Manipulator Systems. In fifth Int Symp on Robotics Research. 1990:279-284.
    [3] Yim W, Singh S N. Trajectory Control of Flexible Manipulator Using Macro-Micro Manipulator System. Proc of The34th Conference on Decision and Control, 1995:2841-2846.
    [4] Yoshikawa T, Harada K, Mats A. Hybrid Position/Force Control of Flexible-Macro-Micro Manipulator Systems. IEEETrans. on Robot and Automation, 1996,12(4):633-640.
    [5] 陈启军.王月娟,陈辉堂.激光作业的宏-微机器人及其控制系统.机器人,1999,21(2):128-133
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出版历程
  • 收稿日期:  1999-07-09

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