基于构形的冗余度机器人自运动规划方法

研究能够直接通过视觉信息进行实时规划的自运动规划方法．冗余度机器人的自运动受到构形约束．从构形出发就能够采用矢量方法规划机器人的自运动。以YJP-1型7自由度机器人为例，针对一类具有旋转自运动主平面的-冗余度机器人，采用基于线性约束的最小二乘法思想，即把机器人末端的运动速度为零作为线性约束条件，代入求机器人自运动逆解的极小最小二乘方程式中进行处理，得到自运动的解析表达式．数值仿真和实验验证了这种算法的有效性。

Geometric structure based self-motion planning for redundant robots

This paper tries to develop a real time self motion planning algorithm for vision guiding robots. Self motion of a redundant robot is determined by its geometric structure. So it is reasonable to plan the self motion of redundant robots using a vector based rule on the analysis of their geometric structure. In this paper, using a sort of redundant robot like YJP 1 manipulator, which has one redundant degree of freedom and a revolving chief plane of self motion, a minimal least square algorithm under a set of linear constraints is introduced to obtain a vector based self motion plan. In the algorithm, the fact that the velocity of the end effector must always be zero in self motion is treated as a set of constraints condition. By this method, a unified expression for self motion planning is obtained. Numerical simulation and experiments are also presented in the paper to verify the algorithm.