摘要
仿人型手臂的主要特点是运动灵活,能购实现握手等动作。本文主要针对自行设计的服务机器人七自由度仿人型作业臂给出了基于连杆假设的手臂部件间距离计算方法。利用改进的人工势场法实现了的双作业臂间的无碰轨迹规划,并在此基础上实现双臂协调控制。
The main features of the bionics manipulators are the agility of movement. This paper presents the calculation method of the distance between assemble manipulators based on fictitious pitman relative to the self-designed 7-DOF bionics manipulators. A collision-free trajectory planning is done using the artificial potential field, based on which carries out the coordinated-control of double manipulators.
出处
《制造业自动化》
北大核心
2005年第10期41-43,58,共4页
Manufacturing Automation
基金
863计划资助项目(2001AA422350)
