基于惯性测量单元的串联机器人大幅度基运动补偿

2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI:10.1109/MMAR.2012.6347894

Vladimirs Leontjevs, F. Flores, Jesús López, L. Ribickis, A. Kecskeméthy

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引用次数: 1

摘要

本文介绍了一种大型空间机器人的运动学分析和控制方法，该方法采用惯性测量单元进行基础运动补偿。所提出的方法适用于6自由度串联机械臂，该方法补偿其底部的大幅度空间运动，使末端执行器高度保持在规定的目标位置。在此基础上，机器人采用一种新的虚拟冗余关节绕过手腕奇异点。整个系统在KUKA KR500系统和计算机生成的以及大振幅的实际波信号上进行了测试。

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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Large-amplitude base-motion compensation of a serial robot using an inertial measurement unit

This paper describes the kinematical analysis and control of a large spatial robot for base motion compensation using an inertial measurement unit. The proposed method is intended for a 6 degrees of freedom serial manipulator, which compensates a large-amplitude spatial motion at its base such that the end effector maintains to a high degree a prescribed target location. Hereby, the robot circumvents hand wrist singularities by a new virtual redundant joint approach. The overall system is tested for a KUKA KR500 system and computergenerated as well as real wave signals with large amplitudes.

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2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)

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