双臂机器人避关节极限与避奇异位形优化研究

摘要

Limit and the mechanical arm joints of the limitation of singular configuration , tend to cause the fail-ure of coordination task.Based on the research of the redundant dual -arm robot, the use of redundant arm since the movement characteristics and based on the gradient projection method and singular robust inverse method to com -plete the limit and avoid redundant arm joint avoid singular configuration optimization .After optimization to obtain the optimal joint configuration , as well as the arms at the end of the error are analyzed and control , basically elimi-nated the terminal trajectory tracking error, and make the movement of mechanical arm got significant improvement in performance.The contrast before and after the optimization result is validated by computer simulation shows the feasibility of the optimization method.For the research of redundant dual -arm robot coordination control method.%关节极限及机械手臂的奇异位形的限制，往往导致协调任务失败。通过对冗余双臂机器人的研究，利用冗余手臂的自运动特性并基于梯度投影法及奇异鲁棒性求逆法完成了冗余手臂的避关节极限及避奇异位形的优化。经过优化后获得了最优的关节位形，同时对双臂末端轨迹的误差进行了分析和控制，有效的降低了末端轨迹跟踪误差，使机械手臂的运动性能得到了明显的改善。最后通过仿真验证对比优化前后的结果可知此优化方法的可行性。为冗余双臂机器人协调控制方法的研究提供了条件。