多机械臂捕捉公共目标的协调关节轨迹规划

JOINT TRAJECTORY PLANNING FOR MULTI-ARM ROBOTS CAPTURING A COMMON OBJECT

For multi-arm robots capturing a common object, it is important that end effector of each arm is in contact with the common object at the same time. In this paper, an efficient method of joint trajectory planning for multi-arm robots capturing a common object is developed, having considered the dynamic constraint of the system. In this method, the matrix norm theory is applied to simplify the dynamic equations of multi-arm robots system first. Secondly, the normalized joint coordinates and movement time are adopted, and its trajectory equations are optimized by nonlinear programming algorithm. Then, the trajectory equations of normalized parameter are made to generate real trajectories of the system. When the initial and final point coordinates are given, the minimum movement time of the system can be determined through the dynamic constriant equations, and the real trajectory of the system can be obtained As a demonstrative example, the method is applied to the system of two manipulators capturing a common object. Finally, it is emphasized that the method can quarantee the end effect of ach arm approaching to the common object at same time, and it can be used in planning joint trajectory of robots on-line.