双臂六自由度空间机器人广义雅可比矩阵的推导

本文建立了双臂六自由度空间机器人的运动学模型,基于此模型,推导出描述机械手末端运动速度与各关节运动速度关系的广义雅可比矩阵(GJM).较现有的其他推导GJM方法相比,导出的GJM求解公式显式、易求,可直接对GJM表达式中各参数赋值,求出GJM.本文的建模方法适合采用分解运动速度(RMRC)控制方法.计算机仿真中,给出了基于RMRC控制方法,利用本文导出的GJM求解公式实现了对机械臂的运动控制.

The Deduction of Generalized Jacobian Matrix for the Dual-Arm Six Degree of Freedom Space Robot

This paper builds a kinematics model of the dual arm six degree of freedom space robot,and deducts the generalized Jacobian matrix which describes the relationship between the motion rate of manipulator end and the rotation rate of joints based on this model.The deducted generalized Jacobian matrix is more simple in its model and demands less work in computation than those deducted by other methods.The formula of the generalized Jacobian matrix is explicit and is easy to solve.We can obtain the generalized Jacobian matrix only if we substitute the parameters of the space robot into the deducted formula of the generalized Jacobian matrix.The method of building the model fits to adopt the resolved motion rate control.This paper gives the simulation to control the dual arm six degree of freedom space robot based on the resolved motion rate control method.