存在驱动饱和约束下的机器人时间最优实时运动规划研究

REAL-TIME MOTION PLANNING RESEARCH OF ROBOTS DUE TO THE LIMITED ACTUATOR POWER

  • 摘要: 本文针对存在驱动饱和约束条件下的视觉伺服机器人,提出了一种时间最优实时运动规划方法.该方法根据驱动电机的机械特性和运行状态,判断电机的驱动潜力,采用自适应模糊逻辑规则实时地调节机器人运动速度,在不考虑奇异点等其它因素下实现时间最优运动规划.文中采用该方法对二自由度平面机器人进行了仿真研究.

     

    Abstract: In this paper, a rule of real-time motion planning for visual servo robots due to the limited actuator power is presented. The rule employs a fuzzy logic adaptive algorithm to modify the motion of robots on-line based on the potential of actuators such as a DC motor according to its mechanical character and performing condition. Time-optimal motion is achieved, disregarding the influence of singularity. A simulation of 2-DOF planar manipulator is also presented in this paper.

     

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