直驱手运动解耦与插值算法研究

摘要

针对直驱机械手的运动控制及轨迹插值问题,进行了相关控制算法的研究.首先,对直驱机械手的机械结构进行了分析,对其各个主要运动部件的特征进行了阐述;其次,对其进行了运动学建模,建立了关节空间与笛卡尔空间的映射关系,通过数值法对机械手的运动解耦问题进行了求解,并分析了此方法相较于传统方法的优越性;再次,采用S曲线结合三次样条插值对机器人进行笛卡尔空间的轨迹插补,目的是得到一种更加可靠的控制方法;针对S曲线介绍了规划过程中各个参数的求解和适配方法,并基于数值积分的B样条求解方法实现曲线拟合;最终,通过MATLAB仿真平台对算法的有效性进行验证.%Aiming at the motion control and trajectory interpolation problem of direct drive manipulator,the related control algorithm is mainly studied in this paper.Firstly,the mechanical structure of the direct drive manipulator is analyzed,and the characteristics of the main moving parts are described.Secondly,the kinematic modeling is carried out,and the mapping relationship between the joint space and the Cartesian space is established.This paper analyzes the motion decoupling problem of the manipulator and analyzes the superiority of the method compared with the traditional method.Thirdly,the trajectory interpolation of the Cartesian space is carried out by using the S-curve combined with the cubic spline interpolation.A more reliable control method for the S curve describes the process of planning the various parameters of the solution and adaptation methods,and based on the numerical integration of the B-spline method to achieve the curve fitting.Finally,through the MATLAB simulation platform for the effective algorithm to verify.