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对拟人臂的运动规划问题进行了研究.通过引入动作基元的概念,将动作基元空间作为连接任务空间与关节空间的桥梁,构建了一个“关节空间-动作基元空间-任务空间”的三级运动规划框架.这种规划方式既保证了对拟人臂运动过程的控制,又简化了复杂操作任务的运动规划.在抽象的动作基元基础之上提出了一个具体的人臂三角形模型,用以描述拟人臂的运动状态.通过引入拟人臂工作平面的概念,利用坐标变换与几何分析相结合的方法详细推导并建立了人臂三角形空间与任务空间和关节空间之间的正逆运动学,为基于人臂三角形的动作基元设计奠定了基础.最后通过仿真算例验证了运动学算法的有效性与可行性.
This paper studies the motion planning of the humanoid arm.According to the concept of the action primitive, the action primitive space is taken as a bridge connecting the task space with the joint space, and a “joint space-motion primitive space-task space ”This three-level planning framework not only guarantees the control of the anthropomorphic arm movement but also simplifies the planning of complex operational tasks.On the basis of abstract motions, a specific human arm triangle Model to describe the motion state of the humanoid arm.By introducing the concept of artificial arm working plane and using the method of coordinate transformation and geometric analysis, the positive and negative between the human arm triangular space and the task space and the joint space are deduced and established in detail Kinematics is the basis of design of motion primitive based on human triangle.Finally, the simulation example is used to verify the effectiveness and feasibility of the kinematic algorithm.