基于伪逆的导轨机械臂关节速度纠偏运动规划方案

针对导轨机械臂在任务执行过程中出现的关节速度偏离期望值的问题，提出了一种基于伪逆算法的导轨机械臂关节速度纠偏运动规划方案。首先，根据机械臂的关节角状态和末端执行器的运动状态，运用伪逆算法对导轨机械臂在速度层上进行冗余度解析。然后，设计时变函数对关节速度进行约束调整，使偏离后的关节速度收敛于期望值。接着，针对末端执行器出现的位置误差设计了误差修正方法以保证轨迹跟踪任务的顺利执行。最后，将运动规划方案在Matlab软件上以基座直线移动和弧形移动的四连杆冗余度机械臂为例进行了仿真实验。仿真结果表明了该方案能纠正导轨机械臂在任务执行过程中偏离期望值的关节速度，且能使末端执行器的轨迹跟踪达到较高的精度。

Pseudoinverse-based motion planning scheme for deviation correction of rail manipulator joint velocity

Aiming at the problem that the joint velocity of the rail manipulator deviates from the expected value during the process of task execution, a pseudoinverse-based motion planning scheme for deviation correction of joint velocity of rail manipulator was proposed. Firstly, according to the joint angle state of the manipulator and the motion state of the end-effector, the pseudoinverse algorithm was used to analyze the redundancy of the rail manipulator on the velocity level. Secondly, a time-varying function was designed to perform constraint and adjustment of the joint velocity, making the deviated joint velocity converge to the expected value. Thirdly, an error correction method was employed to reduce the position error of the end-effector for ensuring the successful execution of the trajectory tracking task. Finally, the motion planning scheme was simulated on Matlab software with the four-bar redundant manipulator with the base of linear movement and circular movement as the example. The simulation results show that the proposed motion planning scheme can correct the joint velocity of the rail manipulator deviated from the expected value during the task execution, and can make the end-effector obtain higher accuracy in trajectory tracking.