| 开链机械臂的反馈Hamel变分积分子 |
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| 引用本文： | 沈伟清,王本亮,史东华.开链机械臂的反馈Hamel变分积分子[J].动力学与控制学报,2022,20(3):8-14. |
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| 作者姓名： | 沈伟清 王本亮 史东华 |
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| 作者单位： | 北京理工大学 数学与统计学院,北京 100081 |
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| 基金项目： | 国家自然科学基金资助项目（11872107） |
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| 摘 要： | 在几何力学框架下，首先，推导了开链机械臂的反馈Hamel变分积分子,其中用反馈控制算法实现了Hamel积分子的寻根；其次，将上述算法用于计算反应规划的正向动力学，在此基础上将回转力引入传统人工势场法来设计斥力，可以克服传统人工势场法中易陷入势场局部极小的缺点，实现机械臂整臂的实时避障轨迹规划；最后,通过两个数值仿真验证了上述所提算法的有效性.
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| 关 键 词： | 几何力学，Hamel变分积分子，反应规划，回转力 |
| 收稿时间： | 2021/6/1 0:00:00 |
| 修稿时间： | 2021/6/8 0:00:00 |
FEEDBACK HAMEL' S VARIATIONAL INTEGRATORS OF OPEN-CHAIN MANIPULATORS |
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| Shen Weiqing,Wang Benliang,Shi Donghua.FEEDBACK HAMEL' S VARIATIONAL INTEGRATORS OF OPEN-CHAIN MANIPULATORS[J].Journal of Dynamics and Control,2022,20(3):8-14. |
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| Authors: | Shen Weiqing Wang Benliang Shi Donghua |
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| Abstract: | In this paper, we first derive Hamel s variational integrators for open-chain manipulators in the framework of geometric mechanics, where the roots of Hamel'' s variational integrators are found by feedback control. Next, we use the above algorithm to solve a forward dynamics problem in reaction planning. As a result, the gyroscopic force is introduced to replace the repulsive force, thus avoiding the local minima dilemma of the artificial potential method, and realizing real-time obstacle avoidance for the whole manipulator. Finally, the effectiveness of the proposed algorithm is illustrated via two numerical examples. |
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| Keywords: | geometric mechanics Hamel'' s variational integrators reaction planning gyroscopic force |
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