机械手Pick-and-Place运动规划

针对机械手拾放操作(Pick and PlaceOperations ,P&PO)的避障及平滑轨迹要求,提出了一种摆线形式的机械手关节空间的运动轨迹规划方法。该方法只需要求解初始点和结束点的逆运动学方程,能够满足位置、速度、加速度的约束条件,可以在笛卡儿空间产生平滑的运动轨迹。利用一种简单有效的算法寻找到了一个位于初始点与结束点之间的第三点,修正后的摆线运动轨迹能够使机械手末端执行器通过该点以避开障碍。将该运动规划方法用于三自由度微操作机械手的P&PO作业中,试验结果验证了该方法的有效性。

Motion planning for Pick-and-Place operations of manipulators

To meet the requirements of obstacles evasion and smooth trajectory for the Pick-and-Place Operations(P&PO)of manipulators, this paper presents trajectories of cycloidal type in joint space of manipulator. The method requires defining the inverse kinematics in the initial and the final positions only, and is capable of meeting the constraint conditions such that position, velocity and acceleration, and generating a smooth Cartesian trajectory. The modulated cycloidal trajectory permits the end-effector to pass over a third intermediate position between initial and the final points, which is the most suitable point defined by utilizing an effective and simple algorithm to avoid obstacles. The proposed planning is used in the P&PO of the micromanipulator with three degrees of freedom. The experiment results do show the effectiveness of the proposed planning.