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首先分析了仿人机器人手臂的空间几何构型,特别是针对在给定任务下末端执行器的姿态约束不完整的情况.并在此基础上,以机器人手臂的整体动能最小为目标,优化球拍绕其法线方向的旋转角.同时从整个机器人手臂动能的方面对机器人手臂的末端执行器姿态进行优化分析,并确定最优条件,即手臂所构成的平面与球拍运动速度向量所形成的平面互相垂直,然后根据最优条件及各连杆间的关系建立方程,求解出最优的末端姿态角,以减少机器人手臂运动所引起的振动.最后,通过仿真结果从动能求取和轨迹规划等方面验证了提出的方法的有效性.
Firstly, the geometrical configuration of the humanoid robot arm is analyzed, especially for the situation that the end-effector’s attitude constraint is incomplete under a given task.On this basis, with the aim of minimizing the overall kinetic energy of the robot arm and optimizing the racket The angle of rotation about its normal direction.At the same time, the robot arm’s end effector posture is optimized and analyzed from the aspect of kinetic energy of the whole robot arm, and the optimal condition is determined, that is, the plane formed by the arm and the racket movement speed vector form the plane And then according to the optimal conditions and the relationship between the connecting rod to establish the equation to solve the optimal end attitude angle to reduce the vibration caused by the robot arm movement.Finally, through the simulation results from the kinetic energy and trajectory planning The validity of the proposed method is verified.