| 运动学补偿的宏2微机器人连续轨迹控制研究 |
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| 引用本文： | 陈启军,王月娟,陈辉堂.运动学补偿的宏2微机器人连续轨迹控制研究[J].控制理论与应用,2001,18(1):12-16. |
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| 作者姓名： | 陈启军 王月娟 陈辉堂 |
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| 作者单位： | 同济大学电气工程系 |
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| 基金项目： | 国家自然科学基金! (6 0 0 0 5 0 0 2 )资助项目 |
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| 摘 要： | 一小机械手附在一大机械手末端构成的系统称为宏－微机器人系统，介绍了宏－微机器人连续轨迹控制的新方法，对宏－微机器人的控制在关节空间进行，通过微机械手的快速运动对宏机械手的轨迹误差在线补偿，宏－微机器人轨迹规划离线进行，通过任务放大的方法分解宏－微机器人运动学冗余，仿真和实验证明了方法的有效性。
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| 关 键 词： | 宏－微机器人 运动学补偿 连续轨迹控制 机械手 频带限制 |
| 文章编号： | 1000-8125(2001)01-0012-05 |
| 收稿时间： | 1998/12/28 0:00:00 |
| 修稿时间： | 1998年12月28 |
Research on Continuous Trajectory Tracking Control of Macro-Micro Manipulator System Based on Kinematic Compensation |
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| CHEN Qi-jun,WANG Yue-juan and CHEN Hui-tang.Research on Continuous Trajectory Tracking Control of Macro-Micro Manipulator System Based on Kinematic Compensation[J].Control Theory & Applications,2001,18(1):12-16. |
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| Authors: | CHEN Qi-jun WANG Yue-juan and CHEN Hui-tang |
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| Affiliation: | Electrical Engineering Department, Tongji University, Shanghai 200092, P. R. China;Electrical Engineering Department, Tongji University, Shanghai 200092, P. R. China;Electrical Engineering Department, Tongji University, Shanghai 200092, P. R. China |
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| Abstract: | A small manipulator is attached at the tip of a large manipulator, this kind of system can be regarded as macro micro manipulator system. This paper presents a kind of novel control strategy of continuous trajectory tracking of macro micro manipulator system. Tracking errors of macro manipulator are compensated by the fast adjustment of micro manipulator and the control is implemented in joint space. Trajectory planning is completed off line and the kinematic redundancy of macro micro manipulator system is resolved by task augment. Simulation and experiment showed the efficiency of proposed method. |
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| Keywords: | macro micro manipulator continuous trajectory tracking task augment kinematic compensation |
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