地震多功能辅助救援机器人运动学规划
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摘要
基于D-H表示法的机器人双工作臂的运动学规划,建立了机械手臂运动能力与各影响因素关系的数学模型(即机器人机械手臂空间运动方程式),归纳出了机器人机械手臂空间运动与各影响因素关系的定量描述,提出了机器人机械手臂空间运动的设计理论和提高驱动能力的方法;建立了较完备的机器人行走机构和机械手臂运动系统的运动协调性和机器人自适应控制理论.通过运动学规划,使机器人能够更好地适用于各种地质条件、各种复杂的环境、各种需要高难度的工作强度,能够取得良好的使用效果.
This paper mainly based on the D-H duplex method for kinematics and trajectory planning of robot arm,established a mathematical model of the relationship between factors of mechanical arm movement ability and the influence(spatial motion of robot manipulator equation),summed up the robot arm space movement and the impact of quantitative factors to describe the relationship,puts forward the design theory of space motion the robot arm and the methods to improve the driving ability;establish the theory of motor coordination and adaptive control of robot walking mechanism and a mechanical arm motion system more complete.Through the kinematics planning,the robot can better apply to all kinds of complex geological conditions,environment,the various needs of high difficulty work intensity,can obtain good effect.
This paper mainly based on the D-H duplex method for kinematics and trajectory planning of robot arm,established a mathematical model of the relationship between factors of mechanical arm movement ability and the influence(spatial motion of robot manipulator equation),summed up the robot arm space movement and the impact of quantitative factors to describe the relationship,puts forward the design theory of space motion the robot arm and the methods to improve the driving ability;establish the theory of motor coordination and adaptive control of robot walking mechanism and a mechanical arm motion system more complete.Through the kinematics planning,the robot can better apply to all kinds of complex geological conditions,environment,the various needs of high difficulty work intensity,can obtain good effect.
引文
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[5]Janglova D.Neural Network in Mobile Robot Motion Planning[J].International Journal of Advanced Robotic Systems,2004,1(1):15-22.
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[7]孙勇智.人工免疫系统模型、算法及其应用研究[D].杭州:浙江大学电气工程学院,2004.
[8]胡小兵.蚁群优化原理、理论及其应用研究[D].重庆:重庆大学电气工程学院,2004.
[9]席裕庚,张纯刚.一类动态不确定环境下机器人的滚动路径规划[J].自动化学报,2002,28(2):161-175.
[2]Paul R P,Shimano B E,Mayer G.Kinematic Control Equation for Simple Maniptdator[J].IEEE Transactions SMC,1981,11(6):445-449.
[3]Lozano-Perez T,Wesley M A.An Algorithm for Planning Collision 2 Free Paths among Polyhedral Obstacles[J].Communi-cations of the ACM,1979,22(10):560-570.
[4]Chuxin C,Monan M,Trived I.Reactive Locomotion Control of Articulated-tracked Mobile Robot for Obstacle Negotiation[C]∥Proc of the IEEE/RSJ Int Con of IROS,1993:26-30.
[5]Janglova D.Neural Network in Mobile Robot Motion Planning[J].International Journal of Advanced Robotic Systems,2004,1(1):15-22.
[6]禹建丽,Kroumov V,孙增圻,等.一种快速神经网络路径规划算法[J].机器人,2001,23(3):201-205.
[7]孙勇智.人工免疫系统模型、算法及其应用研究[D].杭州:浙江大学电气工程学院,2004.
[8]胡小兵.蚁群优化原理、理论及其应用研究[D].重庆:重庆大学电气工程学院,2004.
[9]席裕庚,张纯刚.一类动态不确定环境下机器人的滚动路径规划[J].自动化学报,2002,28(2):161-175.
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