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浙江大学学报(工学版)
浙江大学学报(工学版)
自动化技术、电信工程     
带关节约束的非冗余机械手臂二阶逆运动学控制
江沛1,2, 黄水华1, 韦巍1, 单才华3, 项基1
1.浙江大学 电气工程学院,浙江 杭州 310027；2.重庆大学 机械传动国家重点实验室,重庆 400030；3.浙江正特集团有限公司,浙江 台州 317004
Second order inverse kinematic control method for non redundant manipulator with joint constraints
JIANG Pei1,2, HUANG Shui hua1, WEI Wei1, SHAN Cai hua3, XIANG Ji1
1. College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China；2. State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400030, China; 3. Zhejiang Zhengte Group Limited Company, Taizhou 317004, China
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摘要：
针对关节限位和关节速度约束下的非冗余机械手臂控制问题,提出能够同时满足关节限位、关节速度约束的非冗余机械手臂二阶逆运动学算法.该算法将关节限位约束转换为带有时变阈值的关节速度约束,将时变阈值关节速度约束由真实关节空间映射到修正关节空间,变为固定阈值的关节速度约束；在修正关节空间通过加权最小二乘法,保证机械手臂运动过程中关节限位约束成立.该算法能够通过自适应调整权值矩阵满足关节速度约束,通过定理证明了该算法能够充分满足关节限位、关节速度约束.在三关节非冗余机械手臂上进行仿真实验,验证了该算法可以使闭环系统在实现轨迹跟踪的过程中保证关节限位、关节速度约束成立.
Abstract:
A second order inverse kinematic control algorithm was proposed in order to control non redundant manipulator with both joint limit and joint velocity constraints. The joint limit constraint was converted into the joint velocity constraint with time variant thresholds. Then real joint space was mapped into the revised joint space, in which joint limit constraint can be guaranteed by the weighted least norm method. The method can achieve joint velocity constraint by adjusting the weight factors. A further proof that the both joint limit constraint and joint velocity constraint can be guaranteed by the method. A simulation was conducted on a three link non redundant manipulator in order to track a predefined trajectory. Results demonstrated that the method successfully guaranteed both joint limit constraint and joint velocity constraint.
出版日期: 2015-10-29
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基金资助:
国家自然科学基金资助项目(61374174)；中央高校基本科研业务费专项资助项目（2013QNA4021）；新世纪优秀人才资助项目(NCET 11 0459)；浙江省“钱江人才”计划资助项目（2013R10047）；浙江省自然科学基金资助项目(LY13F030001)；杭州市产业链重大科技创新资助项目（20132111A04 2）.
通讯作者: 项基，男，教授，博导.     E-mail: jxiang@zju.edu.cn
作者简介: 江沛（1985—），男，博士生，从事机械手臂控制的研究. E-mail：denis_samurai@163.com
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引用本文:

江沛, 黄水华, 韦巍, 单才华, 项基.

带关节约束的非冗余机械手臂二阶逆运动学控制
[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008 973X.2015.10.009.

JIANG Pei, HUANG Shui hua, WEI Wei, SHAN Cai hua, XIANG Ji. Second order inverse kinematic control method for non redundant manipulator with joint constraints. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008 973X.2015.10.009.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008 973X.2015.10.009    或    http://www.zjujournals.com/eng/CN/Y2015/V49/I10/1885

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