一种含移动副七自由度机器人操作机轨迹规划

TRAJECTOKY PLANNING FOR A SEVEN DOF ROBOT MANIPULATOR WITH A PRISMATIC JOINT

  • 摘要: 本文将Dubey等提出的梯度投影方法用于搬运装填作业的七自由度155HP-1机器人操作机轨迹规划.155HP-1操作机含一整机移动自由度,在封闭多障碍空间中执行复杂搬运装填作业任务.文中分析了155HP-1操作机奇异问题,对障碍作了简化处理,在轨迹规划中采用了简化Jaco-bian矩阵.最后给出了仿真结果.

     

    Abstract: This paper utilizes the gradient projection method proposed by Dubey to plan the seven DOF 155HP-1 robot manipulator trajectories.The 155HP-1 manipulator contains a prismatic degree,and performs a complex pick-place task in a closed and multi-obstacle space.The manipulator singurality is analyzed,and obstacle avoidance is simplified.During trajectories planning,a simplified Jacobian matrix is adopted,and joint-limit avoidance is taken as optimal performance index,At last,a 2-dimension simulatiOn is given to verify the planned result.

     

/

返回文章
返回