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Task Space Division and Trajectory Planning for a Flexible Macro-Micro Manipulator System
作者姓名:罗凌智  张宇  孙增圻
作者单位:Department of Computer Science and Technology Tsinghua University,Department of Computer Science and Technology,Tsinghua University,Department of Computer Science and Technology,Tsinghua University,Beijing 100084 China,Beijing 100084 China,Beijing 100084 China
摘    要:This paper deals with a flexible macro-micro manipulator system, which includes a long flexible manipulator and a relatively short rigid manipulator attached to the tip of the macro manipulator. A flexible macro manipulator possesses the advantages of wide operating range, high speed, and low energy consumption, but the disadvantage of a low tracking precision. The macro-micro manipulator system improves tracking performance by compensating for the endpoint tracking error while maintaining the advantages of the flexible macro manipulator. A trajectory planning scheme was built utilizing the task space division method. The division point is chosen to optimize the error compensation and energy consumption for the whole system. Then movements of the macro-micro manipulator can be determined using separate inverse kinematic models. Simulation results for a planar 4-DOF macro-micro manipulator system are presented to show the effectiveness of the control system.

关 键 词:机器人  极大-极小操作系统  轨道编制  轨道跟踪控制  任务空间
收稿时间:4 April 2006
修稿时间:2006-04-04

Task Space Division and Trajectory Planning for a Flexible Macro-Micro Manipulator System
LUO Lingzhi,ZHANG Yu,SUN Zengqi.Task Space Division and Trajectory Planning for a Flexible Macro-Micro Manipulator System[J].Tsinghua Science and Technology,2007,12(5):607-613.
Authors:LUO Lingzhi  ZHANG Yu  SUN Zengqi
Institution:Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China
Abstract:This paper deals with a flexible macro-micro manipulator system, which includes a long flexible manipulator and a relatively short rigid manipulator attached to the tip of the macro manipulator. A flexible macro manipulator possesses the advantages of wide operating range, high speed, and low energy consumption, but the disadvantage of a low tracking precision. The macro-micro manipulator system improves tracking performance by compensating for the endpoint tracking error while maintaining the advantages of the flexible macro manipulator. A trajectory planning scheme was built utilizing the task space division method. The division point is chosen to optimize the error compensation and energy consumption for the whole system. Then movements of the macro-micro manipulator can be determined using separate inverse kinematic models. Simulation results for a planar 4-DOF macro-micro manipulator system are presented to show the effectiveness of the control system.
Keywords:macro-micro manipulator  trajectory planning  trajectory tracking control  task space division  flexible manipulator
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