摘要
建立了空间自由飘浮冗余度机器人的模型和运动学方程,分析了其Jacobian矩阵,得出相应的运动学逆解,通过仿真验证了空间自由飘浮冗余度机器人自运动中存在混沌运动,利用混沌分析的直接观察法、时间历程法、相图法和poincare映射法,对一个空间3R刚性冗余度机器人,采用PD控制器控制其末端执行器重复跟踪工作空间内一平面路径时连杆的自运动进行了研究.结果表明,该机器人的自运动存在混沌运动.
The model and kinematics equations of a floating redundant spatial robotic manipulator are established. The Jacobian matrices are analyzed, and the inverse kinematics is obtained. Chaotic motions which existed in the floating spatial redundant robotic manipulator＇s self-motions are proved by simulation. At last, a spatial 3R redundant robotic manipulator is taken as an example, and the links＇ self-motion has been studied when the end-effector tracking a plane path repeatedly in its workspace for PD controlling by analysis of direct observation, time history method, phase diagram method, and poincare mapping method. Results show that there exist chaotic motions in the self- motion of the floating spatial redundant robotic manipulator when solving the floating redundant robotic manipulator＇s inverse kinematics based on pseudo-inverse Jacobian matrix.
出处
《空间科学学报》
CAS
CSCD
北大核心
2012年第6期897-902,共6页
Chinese Journal of Space Science
基金
国家自然科学基金项目资助(51005122)
