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浙江大学学报(工学版)
浙江大学学报(工学版)
电气工程     
基于四元数的机械手姿态定向控制
黄水华,江沛,韦巍,项基,彭勇刚
浙江大学 电气工程学院,浙江 杭州 310027
Attitude pointing control of manipulator based on quaternion
HUANG Shui hua, JIANG Pei,WEI Wei, XIANG Ji, PENG Yong gang
College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China
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摘要：

为了有效利用机械手关节自由度,提出机械手的姿态定向控制方法,即保持机械手末端朝向,而允许工具绕某一朝向轴的旋转自运动.四元数法在姿态控制上不存在奇异点,因而采用四元数的方法,实现机械手的姿态定向控制.通过构建姿态定向误差的四元数表述形式,引入姿态定向误差反馈,构造李雅普诺夫函数,证明了其全局稳定性.采用定向控制后,机械手由原先的六维度控制任务转变为五维,从而多出一个冗余度,可以用于提高机械手在避免关节限位、奇异点以及提升可操作度等方面的能力.实验证明,采用该方法能够良好地实现姿态定向误差收敛,验证了理论上的稳定性证明,获得比姿态定位控制更好的运行效果.
Abstract:

A general framework for the kinematic control of manipulator with attitude pointing task was presented. Attitude pointing task is keeping the direction of end effector instead of its attitude following the command. The nonsingular unit quaternion was adopted in the manipulator kinematic control. The expression of attitude pointing error using quaternion was introduced, and Lyapunov function was constructed to prove the global stability of proposed method used in the closed loop inverse kinematic control. By using attitude pointing control, the manipulator would get an extra degree of freedom compared to the attitude control. The manipulator would have better dexterity and manipulability. The ability of avoiding joint limits and obstacles was improved. The experiments implemented on a 7 DOF manipulator verified the theoretical results and good performance of attitude pointing control. The comparison with attitude control was given to show the advantages of proposed method．
出版日期: 2016-03-31
:  TP 241  
基金资助:

 国家自然科学基金资助项目（61374174）；浙江省自然科学基金资助项目（LY13F030001）；杭州市重大科技创新产业链资助项目（20132111A04）.
通讯作者: 韦巍,男,教授,博导. ORCID: 0000 0002 7021 2792.     E-mail: wwei@zju.edu.cn
作者简介: 黄水华(1990-),男,博士生,从事机械手运动控制、视觉伺服研究.ORCID: 0000 0001 6928 6404. E-mail: eehuangsh@gmail.com
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引用本文:

黄水华,江沛,韦巍,项基,彭勇刚. 基于四元数的机械手姿态定向控制[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2016.01.025.

HUANG Shui hua, JIANG Pei,WEI Wei, XIANG Ji, PENG Yong gang. Attitude pointing control of manipulator based on quaternion. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2016.01.025.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2016.01.025    或    http://www.zjujournals.com/eng/CN/Y2016/V50/I1/173

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