| 一种含移动副七自由度机器人操作机轨迹规划 |
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| 引用本文： | 刘廷荣 吴瑞眠. 一种含移动副七自由度机器人操作机轨迹规划[J]. 机器人, 1994, 16(5): 296-302 |
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| 作者姓名： | 刘廷荣 吴瑞眠 |
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| 作者单位： | 哈尔滨工业大学机械工程系 |
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| 摘 要： | 本文将Ｄｕｂｅｙ等提出的梯度投影方法用于般运装填作业的七自由度１５５ＨＰ－１机器人操作机轨迹规划，１５５ＨＰ－１操作机含一整机移动自由，诺封闭多障碍空间中执行复杂搬运填作业任务，文中分析了１５５ＨＰ－１操作机奇异问题，对障碍作简化处理，在轨迹规划中采用了简化Ｊａｃｏｂｉａｎ矩阵，最后给出了仿真结果。
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| 关 键 词： | 冗余度 轨迹规划 机器人操作机 |
TRAJECTOKY PLANNING FOR A SEVEN DOF ROBOT MANIPULATOR WITH A PRISMATIC JOINT |
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| LIU Tingrong,WU Ruimin. TRAJECTOKY PLANNING FOR A SEVEN DOF ROBOT MANIPULATOR WITH A PRISMATIC JOINT[J]. Robot, 1994, 16(5): 296-302 |
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| Authors: | LIU Tingrong WU Ruimin |
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| Abstract: | This paper utilizes the gradient projection method proposed by Dubey to plan the seven DOF155HP-1 robot manipulator trajectories.The 155HP-1 manipulator contains a prismatic degree,and performsa complex pick-place task in a closed and multi-obstacle space.The manipulator singurality is analyzed,andobstacle avoidance is simplified.During trajectories planning,a simplified Jacobian matrix is adopted,andjoint-limit avoidance is taken as optimal performance index,At last,a 2-dimension simulatiOn is given to veri-fy the planned result. |
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| Keywords: | Redundancy trajectory planning robot manipulator |
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