紧耦合多机器人联合吊运系统逆运动学求解

摘要

针对多机器人共同吊运同一个物体形成闭运动链的协调系统，在给定系统构型的基础上，建立了系统运动学模型，并建立了系统动力学模型。分析了系统的运动学逆解，根据被吊运物体的六个自由度期望运动，给出了逆运动学的解析表达式。利用UG／ADAMS／MATLAB虚拟控制仿真系统，搭建了多机器人吊运系统虚拟实验平台。在确定的参数条件下，实验验证了所建立模型的合理性及逆运动学解析表达式的准确性，为进一步研究系统的轨迹规划、路径跟踪、稳定性等问题奠定了基础。%Regarding the coordination system of closed kinematic chain formed by multi⁃robot jointly lifting the same body, a systematic kinematic model was established on the basis of specified system configuration. By analyzing the systematic inverse solution of kinematics, and according to the expected movement of six degrees of freedom of lifted object, analytic expression of reverse kinematics was given. According to the UG/ADAMS/MATLAB virtual control simulation system, the virtual experimental platform of multi⁃robot lifting system was established. Under confirmed parameter conditions, the test has verified the reasonability of the established model and the accuracy of reverse ki⁃nematics analytic expression, which provideds a foundation for further research on the trajectory planning, path tracing, stability and other issues of the system.