机械臂轨迹规划中的奇异规避及位置补偿研究

摘要

To ensure the high accurate trajectory planning of avoiding singularities of manipulators, a avoiding singularities method, damped reciprocal plus conpensation in non-singular directions(DRPCIND), is proposed for manipulators with spherical wrists.Firstly, for the experimental manipulator the damped reciprocal principle is raised.Then, three singular directions of the manipulator are analyzed.Finally, compensations in non-singular directions are combined with the damped reciprocal algorithm within the singualrity area.In order to return to the desired trajectory, the smooth compensation algorithm is applied without singularity area.Not only is effectiveness of the proposed algorithm in avoiding singularities verified, but also the higher accurate trajectory planning at the translational and/or rotational motion is obtained by experimentally comparing with the original damped reciprocal algorithm.%为了保证机械臂高精度的奇异规避轨迹规划,提出一种对于球形腕部机械臂的避奇异方法——阻尼倒数+非奇异方向补偿算法(damped reciprocal plus compensations in non-singular directions, DRPCIND).首先针对实验机械臂提出阻尼倒数原理;然后分析机械臂的三种奇异方向;最后在奇异区将非奇异方向补偿与阻尼倒数算法相结合,为了回归至理想轨迹,在非奇异区应用平滑补偿算法.通过与原阻尼倒数法进行实验对比,不仅证明该算法在奇异规避中的有效性,而且在平移和/或转动运动中具有更高的轨迹规划精度.