满足三自由度机械臂轨迹跟踪算法的约束条件

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI:10.1109/ROMOCO.2005.201410

Andrzej Kasiriski, J. Wencel

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引用次数: 2

摘要

这项工作的目的是解决产生信号(关节力矩)的问题，迫使拟人3自由度机械手遵循其工作空间中指定的路径，以满足两个相互矛盾的条件。也就是说，机器人的驱动约束(有界的最大扭矩和联合齿轮的转速限制)和沿路径的速度是恒定的。然而，机器人控制的目标是最小化轨迹周期时间。解决这个问题的结果是一个两阶段的路径设计过程。轨迹生成算法基于已知的机械臂模型(运动学和动力学)。利用机器人轴的解耦线性PD控制器控制轨迹跟踪时的建模误差。为了研究特定约束条件的作用和评价系统的性能，对包括路径规划器和轨迹规划器在内的整个系统进行了仿真。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Constraints satisfying trajectory tracking algorithm for the 3 dof manipulator

The aim of this work is to solve the problem of generating signals (joint torques) forcing the anthropomorphic 3 dof manipulator to follow a path, specified in its workspace in such a way that two contradictory conditions are satisfied. Namely, the robot drives constraints are accounted for (bounded maximal torques and rotation speed limits in joint-gears) and the velocity along the path is constant. However the goal of robot control is to minimise the trajectory cycle-time. Solution to the problem results in a two-stage path design procedure. The trajectory generation algorithm is based on the known manipulator models (kinematical and dynamical). The modelling errors while trajectory tracking are controlled with the decoupled linear PD controllers of the robot-axes. The overall system including the path and trajectory planner has been simulated in order to study the role of particular constraints and to evaluate the performance of the system.

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来源期刊

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.

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