摘要
针对具有柔性臂和柔性关节的机器人协调操作刚性负载 ,由载荷分配法分配载荷 ,以物体实际的质心位置为边界条件并且等于期望的轨迹 ,建立了具有柔性臂和柔性关节的机器人臂协调操作的逆动力学模型。这种基于绝对坐标的逆动力学模型可使各协调机器人保持很好的协调 ,并且较准确地实现期望轨迹。通过与通常的方法比较 ,分析了影响机器人协调操作的协调性的因素。
A no-internal-force load distribution method is proposed for cooperating robots. With the assumption that the anticipated trajectory to be as the dynamic model's bounding constraints, an inverse dynamic model of cooperating robots with both link and joint flexibility in absolute coordinates is developed. With the inverse dynamic model, the robots can cooperate the objects with better cooperativity and can track the given trajectory accurately. The effectiveness of the method is demonstrated through simulation of two flexible-link and flexible-joint 3R robots manipulating a rigid load.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2003年第2期141-144,共4页
China Mechanical Engineering
基金
国家自然科学基金资助项目 (5 9975 0 0 1)
北京市自然科学基金资助项目 (30 12 0 0 3)
