To solve the inverse kinematics problem for redundant degrees of freedom（DOFs）manipulators has been and still continues to be quite challenging in the field of robotics.Aiming at trajectory planning for a 7-DOF spac...To solve the inverse kinematics problem for redundant degrees of freedom（DOFs）manipulators has been and still continues to be quite challenging in the field of robotics.Aiming at trajectory planning for a 7-DOF space manipulator system,joint rotation trajectories are obtained from predetermined motion trajectories and poses of the end effector in Cartesian space based on the proposed generalized inverse kinematics method.A minimum norm method is employed to choose the best trajectory among available trajectories.Numerical simulations with the7-DOF manipulator show that the proposed method can achieve the planned trajectory and pose under the circumstances of minimum angular velocities.Moreover,trajectory results from the proposed kinematics model and inverse kinematics method has the advantages of simple modelling,low computation cost,easy to solve and plan trajectory conveniently.The smooth and continuous joint rotation functions obtained from the proposed method are suitable for practical engineering applications.展开更多
In this paper,a method of predicting the motion state of a moving target in the base coordinate system by hand-eye vision and the position and attitude of the end is proposed.The predicted value is used as the velocit...In this paper,a method of predicting the motion state of a moving target in the base coordinate system by hand-eye vision and the position and attitude of the end is proposed.The predicted value is used as the velocity feedforward,and the position-based visual servo method is used to plan the velocity of the end of the manipulator.It overcomes the influence of end coordinate system motion on target prediction in a discrete system and introduces an integral control method to compensate for the prediction velocity,eliminating the end tracking error caused by target velocity prediction error.The effectiveness of this method is verified by simulation and experiment.展开更多
基金Supported by Aerospace Science and Technology Innovation Foundation(CAST20100141107)
文摘To solve the inverse kinematics problem for redundant degrees of freedom（DOFs）manipulators has been and still continues to be quite challenging in the field of robotics.Aiming at trajectory planning for a 7-DOF space manipulator system,joint rotation trajectories are obtained from predetermined motion trajectories and poses of the end effector in Cartesian space based on the proposed generalized inverse kinematics method.A minimum norm method is employed to choose the best trajectory among available trajectories.Numerical simulations with the7-DOF manipulator show that the proposed method can achieve the planned trajectory and pose under the circumstances of minimum angular velocities.Moreover,trajectory results from the proposed kinematics model and inverse kinematics method has the advantages of simple modelling,low computation cost,easy to solve and plan trajectory conveniently.The smooth and continuous joint rotation functions obtained from the proposed method are suitable for practical engineering applications.
基金This paper is supported by the National Natural Science Foundation of China(61733001).
文摘In this paper,a method of predicting the motion state of a moving target in the base coordinate system by hand-eye vision and the position and attitude of the end is proposed.The predicted value is used as the velocity feedforward,and the position-based visual servo method is used to plan the velocity of the end of the manipulator.It overcomes the influence of end coordinate system motion on target prediction in a discrete system and introduces an integral control method to compensate for the prediction velocity,eliminating the end tracking error caused by target velocity prediction error.The effectiveness of this method is verified by simulation and experiment.
