双机械臂协调系统的一类最优轨迹规划方法

<div style="text-align: justify;"> 针对双机械臂搬运单一物体的协调操作系统，提出了一类有效的最优关节轨迹规划方法。该法在机械臂的关节空间内采用分段归一化的无因次量，将其运动轨迹与运动时间解耦，运用非线性规划法优化无因次量运动轨迹。将所规划的无因次轨迹方程作为机械臂产生实际运动轨迹的发生器，由双臂的运动学约束条件和爪端所允许的不协调误差及各手臂的取道点，即可快速生成所期望的系统运动轨迹。为保证双臂能充分协调运动，提出了调整因子的概念。</div>

An efficient method of optimal joint trajeotory planning for the coordination syst-em of two-arm robots holding a rigid object is presented. First,the normalized joint coordin-ates and movement time are adopted so that its trajectrory is decoupled with time, and thetrajectory equations are optimized by nonlinear programming algorithm. Then, the trajectoryequations  of normalized parameter are made to generate real trajectory of the system. Finall-y, when the compliance which exists in the  end effectors of the arms carring an object is g-iven, the desired motion trajectory of the system  is determined immediately through the Ki-nematics constraint. In order to guarantee coordination motion of the two-arm  robots syste-m, the adjustment factor is defined.

国家自然科学基金