双臂机械手的空间姿态反馈轨迹规划
张洁1，浦毅杰2
（1.江西冶金职业技术学院 冶金工程系，江西 新余 338000；2.广州市设计院，广东 广州 510620）
摘要：为了对双臂空间机械手的轨迹进行高精度追踪，提出将一种基于姿态反馈的轨迹规划方法引入设计过程。首先，从相关的角度推导出位姿误差的运动学模型，并分别向末端执行器和基座传达所期望的位姿命令。从控制力的角度出发，在此基础上生成利用位姿反馈出的轨迹规划。理论分析表明，当机械手处于奇异状态时，所提出的轨迹规划算法能够保证末端执行器和基座的位姿误差指数收敛为零。与现有算法相比，该算法在末端执行器上有更高的轨迹追踪精度。此外，该算法为该系统提供了良好的抗干扰性能。仿真结果验证了所提轨迹规划算法的有效性。
关键词：机械手；轨迹追踪；姿态反馈；控制；抗干扰；算法
中图分类号：TP241 文献标志码：A doi：10.3969/j.issn.1006-0316.2020.08.009
文章编号：1006－0316 (2020) 08－0052－08
Spatial Attitude Feedback Trajectory Planning of Dual-Arm Manipulator
ZHANG Jie1，PU Yijie2
( 1.Department of Metallurgical Engineering, Jiangxi Metallurgical Vocational and Technical College, Xinyu 338000, China; 2.Guangzhou Municipal Design and Research Institute, Guangzhou 510620, China )
Abstract：In order to track the trajectory of the dual-arm space manipulator with high precision, this paper proposes a trajectory planning method based on attitude feedback to introduce the design process. First, the kinematic model of the pose error is derived from a relevant perspective and the desired pose command is communicated to the end effector and the base, respectively. From the perspective of control, on this basis, the trajectory planning using pose feedback is generated. Theoretical analysis shows that when the manipulator is in a singular state, the proposed trajectory planning algorithm can ensure that the pose error index of the end effector and the pedestal converges to zero. Compared with the existing algorithms, the algorithm has higher trajectory tracking accuracy on the end effector. In addition, the algorithm provides good anti-jamming performance for the system. The simulation results verify the effectiveness of the proposed trajectory planning algorithm.
Key words：manipulator；track tracking；attitude feedback；control；anti-interference；algorithm
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收稿日期：2020－03－16
基金项目：国家自然科学基金项目（3215232）
作者简介：张洁（1972－），女，江西分宜人，副教授，主要研究方向为机器人，E-mail：383202550@qq.com。
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