冗余度柔性机器人自运动规划新方法

摘要

How to decrease the end-point error of flexible manipulators is a significant problem, a new method for the self-motion planning of flexible redundant manipulators is put forward in this paper, the end-point error of a flexible spatial manipulator is decreased by means of optimizing its self-motion while tracking the prescribed trajectory. The numerical simulation of a 4R spatial manipulator shows that the method is effective and reasonable.%柔性机器人的末端运动精度是人们追求的重要指标,对其进行规划具有理论和实际意义。本文提出了一种新的自运动规划策略，在保证柔性机器人实现预定运动任务条件下，利用机器人的冗余度,通过优化机器人各关节的自运动,降低柔性机器人末端在运动过程中由于弹性变形引起的误差。文中给出了一空间4R柔性机器人的仿真实例,结果表明这一方法具有全局性和易于控制。