被动冗余度空间机器人运动学综合

INVERSE KINEMATICS OF PASSIVE REDUNDANCY SPACE ROBOTS

  • 摘要: 分析了“被动冗余度”空间机器人主,被动关节之间的运动学耦合,得到了可用于运动学规划的耦合指标;分析了“被动冗余度”空间机器人的运动学奇异问题,以及与对应全主动关节冗余度空间机器人的运动学奇异的区别,得到的新的可操作性指标同样可用于机器人的运动规划;推导出了“被动冗余度”空间机器人的最佳最小二乘运动学优化方程,通过“准自运动”实现被动冗余度空间机器人优化控制;通过对平面3DOF空间站机器人的仿真证实了分析得到的结论.

     

    Abstract: In this article, We have analyzed the coupling of passive joints and actuated joints in passive redundancy space robots, and formulated a measure about the coupling which can be considered as a performance index in robot motion planning. We also analyzed the kinematics singularity of passive redundancy robots and the difference about the singularity between the passive and the non-passive redundancy robots. We defined a passive redundancy robot manipulability index which also can be used in robot motion planning and presented the concept of "proximate self-motion" for the passive redundancy robot, the "proximate self-motion" can optimize the motion when robot completes a end-effector mission. In the simulation faction, a planar 3-DOF space station robot exhibits the ability of the "proximate self-motion" in avoiding the kinematics singularity.

     

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