基于各向同性指标的双臂机器人轨迹规划

摘要

In the optimization configuration and trajectory planning of robots,isotropy was often needed to be took into account.However condition number can't be expressed analytically,so it can't be used to plan trajectory.In order to improve the isotropy of Dual-armed robot,Dual Arm Isotropy Measure (DAIM) is proposed in this paper,which is familiar to condition number and can be expressed analytically.The robot in the trajectory planned based on DAIM can keep itself better isotropic.A ccording to the analysis of the formula of DAIM and the simulation of trajectory planning,it turns out that configuration based on DAIM could result in the increasing of directional manipulability value and singular configuration of robot could be avoided.%在对机器人进行位形优化和轨迹规划时,往往需要考虑机器人的各向同性,而经典的条件数指标不能表示成关节转角的解析式,这限制了其在轨迹规划上的应用.为了改善双臂机器人协调操作物体在运动过程中的各向同性,提出了双臂机器人各向同性指标,该指标在功能上类似于条件数,但可以解析表达,所以基于该指标的轨迹可使双臂机器人在运动过程中具有较好的各向同性.经过对该指标的表达式分析和轨迹规划仿真实验研究,结果表明该指标还具有使机器人远离奇异位形并适当增加任务方向的可操作度值的功能.