服务机器人双臂协调操作的灵活性分析
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摘要
针对机器人双臂协调操作的灵活性问题,提出一种速度可操作度椭球相交体积指标进行分析,得到协作空间内奇异操作点和协作空间内各操作点的灵活性分布云图.首先,建立双臂的紧协调约束方程,并基于双臂连杆速度得到雅可比矩阵;然后,采用TOMM法求解双臂协调操作的可操作度椭球相交体积;最后,以服务机器人的双臂为研究对象,运用速度可操作度椭球相交体积指标进行双臂的灵活性分析,并应用Matlab对双臂协调操作的灵活性进行仿真分析,研究结果验证了上述分析的正确性,为双臂机器人的协调避碰提供了一定参考.
Aimed at the flexibility for coordinated operation of the dual-arm robot,the index of operational ellipsoid intersection volume was proposed.The distribution of the queer operation points and the distribution of operation points were obtained in the cooperative space.Firstly,the tight coordination constraint equation of dual-arms was established,and the Jacobi matrix was obtained based on the dual-arms speed.Secondly,the operation ellipsoid intersection volume of dual-arms coordinated operation was solved by TOMM method.Finally,with the dual-arm 6R service robot as the research object,the dual-arms flexibility was analyzed by the index of ellipsoid intersection volumes,and the Matlab was used to simulate the dual-arm coordination operation flexibility.The correctness of the above analysis was verified,which could provide a reference for the coordinated avoidance of the dual-arm robot.
Aimed at the flexibility for coordinated operation of the dual-arm robot,the index of operational ellipsoid intersection volume was proposed.The distribution of the queer operation points and the distribution of operation points were obtained in the cooperative space.Firstly,the tight coordination constraint equation of dual-arms was established,and the Jacobi matrix was obtained based on the dual-arms speed.Secondly,the operation ellipsoid intersection volume of dual-arms coordinated operation was solved by TOMM method.Finally,with the dual-arm 6R service robot as the research object,the dual-arms flexibility was analyzed by the index of ellipsoid intersection volumes,and the Matlab was used to simulate the dual-arm coordination operation flexibility.The correctness of the above analysis was verified,which could provide a reference for the coordinated avoidance of the dual-arm robot.
引文
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[2]MANSOURI I,OUALI M.A new homogeneous manipulability measure of robot manipulators,based on power concept[J].Mechatronics,2009,19(6):927-944.
[3]姚建初,丁希仑,战强,等.冗余度机器人基于任务的方向可操作度研究[J].机器人,2000,22(6):501-505.
[4]谢碧云,赵京.基于条件数约束的方向可操作度[J].机械工程学报,2010,46(23):8-15.
[5]MAKRIS S,TSAROUCHI P,MATTHAIAKIS A S,et al.Dual arm robot in cooperation with humans for flexible assembly[J].CIRP Annals-Manufacturing Technology,2017,66(1):13-16.
[6]KRVGER J,SCHRECK G,SURDILOVICD.Dual arm robot for flexible and cooperative assembly[J].CIRPAnnals:Manufacturing Technology,2011,60(1):5-8.
[7]陈安军,许佩霞,李国梁.双臂机器人机构速度方向可操作性研究[J].南京理工大学学报:自然科学版,2005,29(2):202-205.
[8]方健.冗余双臂机器人在线运动规划与协调操作方法研究[D].合肥:中国科学技术大学图书馆,2016.
[9]熊有伦,唐立辛,丁汉,等.机器人技术基础[M].武汉:华中科技大学出版社,2013.
[10]Siciliano B,Sciavicco L,Villani L,et al.Robotics modelling,planning and control[M].London:SpringerVerlag,2010.
[11]丁希仑.拟人双臂机器人技术[M].北京:科学出版社,2011.
[12]LEE SUKHAN.Dual redundant arm configuration optimization with task-oriented dual arms manipulability[J].IEEE Transactions on Robotics and Automation,1989,5(1):78-97.