冗余度机器人操作机伪逆控制重复性研究

吴瑞珉; 刘廷荣; 陶建国; 蔡鹤皋

冗余度机器人操作机伪逆控制重复性研究

哈尔滨工业大学机械工程系 150001

详细信息

作者简介:
吴瑞珉：男，29岁，博士生．研究领域：冗余度机器人运动控制．
刘廷荣：男，56岁，教授，教研室主任．研究领域：机器人机构学．
陶建国：男，30岁，讲师．研究领域：机器人机构学．

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出版历程
- 收稿日期: 1995-05-09
- 发布日期: 1996-05-14

REVIEW OF STUDY ON THE REPEATABILITY OF REDUNDANT MANIPULATORS UNDER PSEUDOINVERSE CONTROL

Department of Mechanical Engineering, Harbin Institute of Technology 150001

摘要

摘要: 本文对冗余度机器人操作机伪逆控制重复性的研究进行了系统的分析．讨论了LBC稳定曲面存在及自运动流形的零挠率重复性判据的可行性，澄清了LBC引入稳定曲面作为重复性判据的错误观点，分析了伪逆控制重复性与冗余的矛盾，提出了对于冗余度机器人操作机封闭路径的重复作业，不宜采用伪逆控制，而应选择将冗余度系统降为非冗余系统的逆解算法以消除关节轨迹的漂移．
- 冗余度 /
- 机器人 /
- 操作机 /
- 伪逆 /
- 重复性
Abstract: Study on the repeatability of kinematically redundant manipulators under pseudoinverse control is reviewed in this paper. This work discusses whether the existence of LBC's stable surface and zero torsion of self-motion manifold as judge of the repeatability are available, clarifies the misconception with which stable surfaces are introduced to judge the repeatability, analyzes the contradiction between pseudoinverse control repeatability and redudancy, and suggests that in order to obtain free-trajectories for redundant manipulators performinging tasks with periodically closed paths, no pseudoinverse control methods but relevate control methods which decrease redundant systems to non-redundant systems be chosen.
- Kinematically redudancy /
- robot /
- manipulator /
- pseudoinverse /
- repeatability

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参考文献(18)

[1]	Klein A.Huang C H.Review of Pseudoinvene Control for Uae with Kinematically Redundant Manipulators.IEEE Trana SMC,1983,13(3),245-250
[2]	Shamir Yomdin Y.Repeatablity of Redundant Manipulators,Mathematical Solution of the Problem.IEEE Trana Automatic Control,1988,AC-33,1004-1009
[3]	Shamir T.Remark on Dynamical Problems of Controlling Redundant Manipulators.IEEE Trana,1990,AC-3(33):341-344
[4]	Klein A,Kee K B.The Nature of Drift in Peaeudoinverae Control of Kinematically Redundant Manipulators.IEEE Trana 1989.R-s(z):231^234
[5]	Angeles,Mathur S.Reeolved Rate Control of Redundant Manipulators with Elimination of Non-coneervative Effects.Proc Int Conf 5th Robotics Research,1990,209-216
[6]	Luo G,Ahmad S.On the Drift Rate in Paeudoinverae Control of Redundant Robots.Proc American Control Conf,1991:2021-2026
[7]	Luo G,Ahmad S.Measure of joint Path Drift for Kinematically Redundant Robots.Proc IEEE Int Conf Robot Automat.1991,1163-1168
[8]	Luo G.Ahmad S.Prediction the Drift Motion for Kinematically Redundant Robots.IEEE Trana SMC.1992,21(4):717-728
[9]	John S.Bay.Geometry and Prediction of Drift-free Trajectories for Redundant Machines Under Pseudo-inverse Control.Int J Robot Rea,1992,11(1):41-52
[10]	Roberta G,Maciejewaki A A.Nearest Optimal Repeatable Control Strategies for Kinematically Redundant Manipulatore.IEEE Trana,1992.RA-8(3)
[11]	Roberts R G,Maciejewski A A.A Comparison of Two Methods for Choosing Repeatable Control Strategies for Kine-matically Redundant Manipulators.Proc of 1992 Int Conf on Robotics and Automation,Nice.France-May 1992,514-519
[12]	Roberta R G,Maciejewski A A.Singularities Stable Surfaces,and the Repeatable Behavior of Kinematically Manipulatore.int J Rocotica Rea,1994,13(1):70-81
[13]	Wu Ruimin,Liu Tingrong,Cai Hegao,Bi Zhuming.Study on the Repeatability of Kinematically Redundant Manipulator under Pseudoinverae Control.The 1994 ASME Design Technical Conferences-23rd Biennial Mechanisms Conference,Robotics,Kinematics,Dynamics and Controls,Minnesota.1994,DE-72,503"508
[14]	吴瑞琅,刘廷荣,内建国,蔡鹤皋.冗余自由度机器人操作机伪逆控制保守性的数值研究.机器人,1994,16(Supl),15-21
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[16]	吴瑞垠,刘廷荣,肉建国,蔡鹤皋.冗余自由度机器人操作机伪逆控制运动漂移的研究.1995年智能机器人年会
[17]	Chevallereau W,Kha川.A New Method for the Solution of the inverse Kinematics of Redundant Robots.IEEE Int Conf Robot Automat,1988,34-42
[18]	Baillieul J.Kinematic Programming Alternatives for Redundant Manipulators.IEEE Int Conf Robot Automat,1985,722-728

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文章访问数: 32
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PDF下载量: 336
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冗余度机器人操作机伪逆控制重复性研究

作者简介: 吴瑞珉：男，29岁，博士生．研究领域：冗余度机器人运动控制．刘廷荣：男，56岁，教授，教研室主任．研究领域：机器人机构学．陶建国：男，30岁，讲师．研究领域：机器人机构学．

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出版历程

REVIEW OF STUDY ON THE REPEATABILITY OF REDUNDANT MANIPULATORS UNDER PSEUDOINVERSE CONTROL

计量

出版历程

目录

作者简介:
吴瑞珉：男，29岁，博士生．研究领域：冗余度机器人运动控制．
刘廷荣：男，56岁，教授，教研室主任．研究领域：机器人机构学．
陶建国：男，30岁，讲师．研究领域：机器人机构学．