基于关节限位的自治水下机器人机械手系统运动规划研究

对自治水下机器人搭载的四功能水下电动机械手进行了简要描述。考虑到自治水下机器人机械手系统的运动学冗余,将关节限位算法用于系统逆运动学求解,避免载体大幅度姿态变化。利用Matlab仿真表明该算法在解决系统冗余的同时有效的限制了关节位移。

Give a description of a four-function electric manipulator to be equipped for an autonomous underwater vehicle(AUV).Considering the underwater vehicle-manipulator system(UVMS)is of kinematic redundancy,the range limit algorithm avoids the enormous attitude change of the vehicle which is used to the motion of the system.The simulation results demonstrate the effectiveness of the proposed method in resolving the kinematic redundancy and reducing the range based on Matlab.