基于任务的两协调机械手的关节轨迹优化

介绍了机器人协调控制和冗余度机器人的研究的一般方法，从工作椭球角度研究了两个协调机械手的关节轨迹优化．从任务出发，根据运动和力的需要，定出期望的可操作性椭球；把期望的椭球与两机械手实际可操作性椭球的相交体积作为性能指标，用零空间控制进行优化，利用冗余产生出满足终端运动要求的、优化的关节轨迹．为了对平面上两个３连杆机械手进行分析，为了比较，用零空间控制和伪逆控制分别进行关节轨迹规划．结果表明：用零空间控制时，两机械手实际可操作性椭球与期望的椭球相交体积变大、性能指标提高；用伪逆控制时，两机械手实际可操作性不能逼近期望的椭球．文中通过椭球把运动和力的控制结合起来，仿真实例证明了文中控制算法的有效性．

Task-Oriented Joint Trajectory Optimization of Two Coordinated Manipulators

General method on coordinated controls of robots and redundant robots were introduced. Joint trajectory optimization of two coordinated manipulators was investigated on the basis of manipulability ellipsoids. The desired manipulability ellipsoids were determined based on the task. The performance index was defined according to the volume of intersection between actual and desired manipulability ellipsoids of two manipulators. The joint velocity null space vector was chosen to maximize the index and to optimize the joint trajectory to satisfy the moving requirements of terminals by using redundance. Two planar manipulators with three links each were analyzed. A pseudo inverse control was chosen in contrast to the null space control. The results show that null space control can improve the above mentioned performance index while the pseudo inverse control can not make the actual manipulability ellipsoids approaching the desired ones. Motion control and force control were combined with each other via ellipsoids. The simulation example shows the effectiveness of the control algorithm.