摘要
为解决柔性机器人协调操作系统的逆动力学问题,提出一种无内力载荷分配法。该方法首先在操作空间基于无内力的原则规划载荷分配系数,然后在关节空间以关节输入力矩最小为目标确定机器人各个关节的输入力矩。以2个3R柔性机器人协调操作刚性物体为例,验证了该方法的有效性。
Airmed at the inverse dynamics of cooperating flexible robot system, it proposes a no-internal - force distribution method. Based on the principle of no-internal- force, this method optimizes the coeffi- cients of load distribution in project space. With the objective of minimum actuator torques, it can get the joint torques. As an example of two 3R flexible robots manipulating a single object, it demonstrates the effectiveness of the method.
基金
国家自然科学基金资助项目(50575002)
北京市自然科学基金资助项目(3062004)
关键词
柔性机器人
协调操作
内力
动载分配
Flexible Robot
Cooperating
Internal Force
Load Distribution
