基于超冗余度机械臂动力学的时间最优轨迹规划

基于超冗余度机械臂的动力学方程 ,提出了一种超冗余度机械臂同时受速度和力矩约束的时间最优轨迹规划方法 .它首先采用 B样条曲线拟合无碰撞离散路径 ,得到由伪位移参数 s表示的超冗余度机械臂连续、光滑运动路径 ,然后对动力学方程和约束方程进行数学变换 ,得到由 s表示的动力学方程和约束方程 ,最后以 s和伪速度 s· 分别作为动态规划的阶段变量和状态变量 ,对超冗余度机械臂进行时间最优轨迹规划 .仿真结果表明 ,所给出的时间最优轨迹规划算法是正确的 ,所采取的解决方法是可行的

Taking dynamics of the system into account, this paper proposed an approach of time optimal trajectory planning for hyper redundant manipulator subject to the constraints of joint velocity and joint torque. B  splines are used to fit collision free sequences into a continuous smooth path parameterized by pseudo displacement   s  . Then, the dynamics equation and constraint equations of the manipulartor are expressed by   s   through the transformation on the original equations. Finally, taking   s   and pseudo velocity   s  · as a stage and state variable respectively, the dynamic programming is used to plan time optimal trajectory. The simulation with 6  DOFs planar hyper redundant manipulator proves that the algorithm is correct and the approach is feasible.

中国科学院沈阳自动化研究所机器人学研究室基金资助项目 (RL2 0 0 10 5 )