摘要
装备了机械手臂的智能轮椅在助老、助残、辅助康复等方面都有重要的研究价值。对装备于智能轮椅的四自由度机械手臂运动学分析以及轨迹规划进行了研究,为机械手臂自主抓取建立了数学模型和理论依据,运用D-H法建立了机器人的运动学方程。提出了基于目标函数的最小功率法,在逆解存在多组解的情况下,选取节约能量的一组解,从而节约了能量。通过仿真实验验证了算法的有效性,为以后的轨迹优化、无碰撞轨迹规划建立基础。
The arm equipped on the intelligent wheelchair has an important research value in modern society,such as help the elder,disabled,rehabilitation. This paper researched Kinematics analysis and trajectory planning for four DOF arm equipped on intelligent wheelchair,built mathematical model and theoretical basis for automatic grasp of arm. Used D-H method to establish the robot＇s kinematics equation and proposed a novel minimum power method of objective function to choose a group of the saving energy within the inverse existing multiple solutions. Experiments results show the effectiveness of the algorithm and it establishes a basis of the future trajectory optimization,collision-free trajectory planning.
出处
《计算机应用研究》
CSCD
北大核心
2010年第12期4578-4581,共4页
Application Research of Computers
基金
国际科技合作计划资助项目(2010DFA12160)
