一类非完整机械手的链式变换特性及其运动规划方法

摘要

A motion planning algorithm was proposed to avoid the inverse chained form conversion singularity of nonholonomic three-joint manipulators.Free variables of generalized coordinates were separated according to the structural features of nonholonomic manipulators.Then the boundary val-ues of variables acted as undetermined coefficients of control inputs.Inequality constraints were pro-posed to make sure that a trajectory in chained form spaces might be mapped into joint spaces for sin-gularity of inverse chained form conversion.Additional constraints were used to avoid singular config-uration of the inverse chained form conversion.Results of simulations and experiments prove the fea-sibility and effectiveness of this motion planning algorithm.%针对一类非完整三关节机械手提出了规避链式逆变换奇异位形的运动规划方法.根据非完整机械手的结构特点分离出广义坐标向量中的自由变量,将其边界值作为控制输入中的待定系数进行求解.对于非完整机械手在链式逆变换过程中出现的奇异性问题,提出令链式空间中一条轨迹向关节空间映射有解的不等式约束条件,利用增加附加位形约束的方法来规避非完整机械手的链式逆变换奇异位形.仿真与实验结果证明了运动规划算法的可行性与有效性.