欠驱动冗余度机械臂的动态自重构

分析了欠驱动冗余度机械臂不同机构模式下运动学模型及动力学模型之间的关系,给出了欠驱动机械臂工作于全驱动模式下的动力学操作性度量指标。提出了一种欠驱动机械臂工作在欠驱动模式时的基于非线性控制技术的自运动控制方法,利用少维数的控制输入实现了机械臂的多维关节空间的运动控制,使欠驱动冗余度机械臂能完成自运动流形控制。提出一种动态提高欠驱动冗余度机械臂工作于全驱动模式时的操作性能的方法,通过有两个被动关节的平面四关节欠驱动机械臂进行了仿真验证。

DYNAMIC SELF-RECONFIGURATION OF UNDERACTUATED REDUNDANT MANIPULATORS

The kinematics and dynamics of the underactuated redundant manipulator are analyzed, and a dynamic manipulability measure is proposed for the underactuated manipulator when it is working in the full-actuated mode. Furthermore, a nonlinear control method is suggested for controlling the motion of the manipulator that is working in underactuated mode. This algorithm can control the motion in the configuration space that has higher dimensions than that of the input space, so the "self-motion" that is an intrinsic characteristic of the underactuated redundant manipulator can be exhibited definitely in dynamics level. Based on the fact of this, an optimizing algorithm for improving the dynamic manipulability of the underactuated manipulator is proposed. The simulation results on a planar four joints manipulator that has two passive joints had shown some aspects of the investigations.