机器人精确轨迹控制方法的研究

研究了一种六关节机器人通过奇异位形时新型解的方法。当机器人接近奇异位形时 ,操作空间内微小的运动 ,会引起关节速度趋向无穷大 ,导致机器人失去控制。该方法应用线几何理论和反螺旋理论 ,识别出机器人线性相关的关节轴线和操作空间的不可行运动。通过对相应Jacobian矩阵的行和列进行重新整合 ,使机器人在奇异点时 ,工作空间可行运动与关节运动仍保持一一对应关系 ,从而得到机器人的精确轨迹控制。最后 ,使用上述方法 ,对PUMA机器人作了实例分析 ,结果证明了该方法的有效性

Study on Accurate Trajectory Control Mode for Robot

A new solution to pass through singular configuration for six-joint robot is studied. Robot motions near singular configuration often cause excessive joint rates corresponding to differential motion inside the workspace, and result in the robot out of control. By line geometry and reciprocal screw theory, the linear dependent joint axes and the task space unfeasible motions are identified. Through rearranging the rows and columns of the corresponding Jacobian matrix, the full rank Jacobian matrix is obtained in the vicinity of singular configuration and the accurate trajectory of the robot is tracked. Finally, a numerical example is given to demonstrate the feasibility of this approach.