摘要
为实现操作臂各关节间在移动过程中抓取任务完成的准确性,设计了五自由度操作臂,采用DH法则对该操作臂进行运动学分析,建立了末端位姿信息与各关节角间的变换关系.采用轨迹插补的方法得到这两点间若干轨迹中的间断点集,根据运动学中关节角的变化量,利用最小二乘法来寻找总增量的最小解,实现操作臂末端在笛卡尔空间内跟踪所规划的轨迹.研究结果表明:为避免工作空间奇异点的存在影响运动控制过程,对各关节角度与末端位姿间关系采用最小二乘法来寻找关节角总增量的最小解,实现操作臂末端在笛卡尔空间内的轨迹跟踪,并准确地完成了空间抓取动作.
In order to realize the accurate grasp of manipulator while the moving action between joints , the contral method of a 5-DOF manipulator is presented in this paper . The DH rule is used for kinematics analysis .Meanwhile ,the transformation relations among the pose of end holder and the joint angles are established .Discontinuous point-group on the trajectory between the initial position and the target position is gained by the interpolator algorithm .Then ,the least square method is used to find the minimum total joint angles .Ultimately ,the tracking trajectory of the end holder is planned for motion control .T he results presented :In order to avoid failure control process because of singularities in workspace ,for the relations between joint angles and end pose , the method of finding the minimum solution of the total change of joint angles is effectively used for end holder of manipulator to achieve trajectory track in the Cartesian space ,and accurately complete the crawl action .
出处
《西安工业大学学报》
CAS
2013年第8期633-637,共5页
Journal of Xi’an Technological University
关键词
操作臂
五自由度
关节驱动
轨迹跟踪
manipulator
five-DOF
actuated joint
trajectory tracking
