Planning collision-free motions for underactuated manipulators in constrained configuration space
Planning collision-free motions for underactuated manipulators in constrained configuration space
复制标题
在受限配置空间中规划欠驱动机械手的无碰撞运动
DOI：
10.1109/robot.1997.620094
复制
发表时间：
1997
期刊：
影响因子：
--
通讯作者：
Yangsheng Xu
中科院分区：
文献类型：
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作者：
M. Bergerman;Yangsheng Xu
我们提出了一种在工作空间内的障碍物中驱动欠驱动机械臂的方法。该方法允许根据机械臂的动态方程生成无碰撞轨迹。当被动关节被锁定时，这些轨迹位于与主动关节的轴平行的表面上。当被动关节自由时，轨迹位于由被动关节缺乏驱动所施加的非完整约束确定的表面上。通过打开和关闭关节制动器，我们获得了连接起始配置和目标配置的一系列轨迹。利用鲁棒控制器来确保机械臂紧密遵循预先计划的轨迹，尽管存在建模误差和外部干扰。仿真和实验研究证明了所提出理论的有效性。
We propose a method to drive an underactuated manipulator among obstacles in its workspace. The method allows for collision-free trajectories to be generated from the dynamic equations of the manipulator. When the passive joints are locked, these trajectories lie on surfaces parallel to the axes of the active joints. When the passive joints are free, the trajectories lie on surfaces determined by the nonholonomic constraints imposed by the lack of actuation at the passive joints. By switching the joint brakes on and off, we obtain a sequence of trajectories that connect the start and the goal configurations. A robust controller is utilized to ensure that the manipulator follows the pre-planned trajectories closely despite modeling errors and external disturbances. Simulation and experimental studies demonstrate the validity of the proposed theory.