两冗余度机器人协调操作的研究
THE STUDY ON COORDINATED MANIPULATION OFTWO REDUNDANT ROBOTS
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摘要: 本文针对两冗余度机器人在协调操作中的载荷分配和关节力矩极小化这两方面的问题进行了研究.首先,提出了最小载荷法、最小力矩法和复合指标法3种最优规划策略.然后,利用这种方法对两个平面3R机器人抓持同一刚体的协调操作进行了仿真计算,并将仿真结果进行了深入细致的分析比较.Abstract: This paper deals with the problems of load distribution and joint trajectory planning in the coordinated manipulation of two redundant robots. First,three optimal schemes,i.e. minimum load method,minimum torque method and multiple criterion method,are proposed. Then,a simulation example for two planar 3R redundant robots handling a single object is presented and simulation results are analysed intensively.