自治水下机器人机械手系统协调运动研究

简单描述了自治水下机器人搭载的三功能水下电动机械手的设计,鉴于自治水下机器人-机械手系统运动学冗余、内部可能干涉以及载体圆筒式外形等特点,将惩罚调节因子引入系统运动学伪逆矩阵,保证了关节在允许范围内运动,避免载体大幅度姿态变化及载体与机械手之间的干涉,同时采用梯度投影法优化海流作用下的系统推力。仿真表明,该算法在解决系统冗余度的同时,有效地协调多任务下的系统动作。

The design of a three-function electric manipulator to be equipped for an Autonomous Underwater Vehicle(AUV) is described at first.Whereas the system is of kinematic redundancy,possible to intervene interiorly and cylinder-shaped,this paper proposes an algorithm to generate the desired trajectories for both the vehicle and the manipulator in such a way that the system's thrusts can be minimized when ocean current exists,and at the same time,joint limits and interference between vehicle and manipulator are avoided.The simulation results demonstrate the effectiveness of this proposed method in resolving the kinematic redundancy subject to the above tasks.

中科院基地创新资助项目(F030606)