一种基于矢量分析的视觉伺服冗余机器人运动规划方法

本文提出了一种适用于视觉伺服冗余机器人的运动规划方法．针对大多数具有三轴 相交手腕的操作臂，文章把操作臂的运动规划分解为两个方面．一方面，采用腕部速度矢量 在操作臂关节空间极小最小二乘分解的方法规划操作臂关节速度．另一方面，用欧拉角矢量 递推的方法规划操作臂手爪的姿态．该方法的特点是物理意义明确，算法简单．同时具有一 定的运动学鲁棒性．文中还采用该方法对8R操作臂进行了仿真研究．

A MOTION PLANNING METHOD FOR VISUAL SERVO REDUNDANT ROBOTS BASED ON THE VECTOR ANALYSIS

In this paper, a rule of motion planning for visual servo redundant robots is developed. According to the fact that most industrial manipulators hav e a spherical gripper which has 3 revolving DOF with their axes converge at one point, the paper split the motion planning task into two parts. In one hand, the manipulator positioning is achieved by decomposing the track velocity vector in joint space with minimal least square method. In the other hand, the pose of gr ipper is planned by a recurrence formula of Euler angle. This rule is a executi ng level one for visual servo redundant robots. It has a clear physical interpre tation and a smaller value of computing then a typical one. Further more, it has a limited robust quality of kinematics. A simulation of 8R manipulator is also presented in this paper.