空间冗余度机器人最小关节力矩的轨迹规划

许多工程机械的工作装置属于冗余度机器人的范畴 ,该类机械施工控制自动化所涉及到的轨迹规划问题 ,一直受到人们的重视·采用冗余度机器人运动学的最小关节力矩法 ,对空间4R冗余度机器人的关节轨迹的运动规划进行了分析仿真·实验表明该方法实际可行 ,运动学和动力学的工作特性良好·

The work equipment of many construction machines belongs to a spatial redundant robot. Much attention is paid to the trajectory planning of automation of mechanical control of the machinery. By the minimal joint torque method of the redundant robots, the joint trajectory planning was analyzed and simulated to a spatial 4R redundant robot. The simulated results show that this method is reliable, and the kinetic and dynamic characteristics of the robot is satisfied.