| 移动手臂对机器人越障性能影响及运动规划 |
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| 引用本文： | 王伟东,孔民秀,杜志江,孙立宁. 移动手臂对机器人越障性能影响及运动规划[J]. 机械工程学报, 2009, 45(8). DOI: 10.3901/JME.2009.08.006 |
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| 作者姓名： | 王伟东 孔民秀 杜志江 孙立宁 |
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| 作者单位： | 哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨,150001 |
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| 基金项目： | 长江学者创新团队计划，国家高技术研究发展计划 |
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| 摘 要： | 工作在废墟中的搜救机器人应具有一定的越障能力.由于质心决定越障稳定性和成功性,故提出基于质心坐标公式和机器人运动学的质心运动学模型,通过此模型可获取机器人在越障过程中质心变化情况,分析移动手臂姿态对跨越壕沟的影响,并得到最优跨越壕沟的初始和最终位置和速度.由于移动手臂的动态特性影响机器人越障稳定性,故通过建立的其动力学模型和零力矩点(Zero moment point,ZMP)稳定判据,分析移动手臂动态特性对跨越障碍的影响,并规划出最优加速度.最后通过试验验证了分析结果及动作规划的正确性.
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| 关 键 词： | 质心运动学模型 移动手臂动力学模型 越障动作规划 |
Effect and Motion Planning of Manipulator for Obstacle Negotiation of Tracked Robot |
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| WANG Weidong,KONG Minxiu,DU Zhijiang,SUN Lining. Effect and Motion Planning of Manipulator for Obstacle Negotiation of Tracked Robot[J]. Chinese Journal of Mechanical Engineering, 2009, 45(8). DOI: 10.3901/JME.2009.08.006 |
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| Authors: | WANG Weidong KONG Minxiu DU Zhijiang SUN Lining |
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| Affiliation: | State Key Laboratory of Robotics and System;Harbin Institute of Technology;Harbin 150001 |
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| Abstract: | Because the center of gravity(CG) position plays an important role in the process of leaping over a ditch, the CG position kinematics model is built.By using this model, the CG change situation is obtained, and the maximum width of the ditch which can be leaped over is obtained.Then the position and the velocity of the mobile manipulator in the starting and terminal posture are calculated by using this model.Because the dynamic behavior of mobile manipulator has an effect on the stability of leaping over a ... |
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| Keywords: | Center of gravity kinematics model Dynamic model of mobile manipulator Motion planning of leaping over a ditch |
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