欠驱动余度机械臂的非完整冗余特征研究

欠驱动技术在航天领域有重要应用价值。针对空间机器人系统,研究了欠驱动冗余度机械臂的"非完整冗余"特征和无碰撞路径最优运动规划方法。这种系统对于给定的机械臂末端位姿,其冗余特征不便通过传统意义上的运动学"自运动"来刻画,但是因机构自由度数大于工作空间维数,系统的冗余特征可通过动力学水平的控制体现出来。基于李雅普诺夫方法,提出一种欠驱动冗余度机械臂的无碰撞路径最优规划方法,揭示了这种机器人系统的"非完整冗余"特征,通过平面3连杆机械臂进行了仿真。

The Nonholonomic Redundancy of Under-actuated Redundant Manipulators

The under-actuated is an important technique of fault tolerance control technology for space engineering. Nonholonomic redundancy and a collision free motion planning method for under-actuated redundant manipulator were studied in this paper aiming at the Space-Robot-Systems. For a certain end-effecter position and orientation of a manipulator, the redundancy of the under-actuated manipulator system cannot be exhibited by "self-motion" in kinematics. But for that the degrees of freedom of the manipulator are more than the dimensions of manipulating space, the multi-solutions characteristics of the under-actuated redundant system can be described as "Nonholonomic Redundancy", that is to say an under-actuated redundant manipulator can move to the destination through multi different paths. Based on the Lyapunov theory, a collision free motion plan method for the under-actuated redundant manipulator was proposed, the characteristics of nonholonomic redundancy of the system is revealed. The simulation results on a 3-DoFs manipulators verified the method is effectual.