空间冗余度机器人混沌自运动研究

葛新锋; 殷志锋

doi:10.11728/cjss2012.06.897

空间冗余度机器人混沌自运动研究

doi: 10.11728/cjss2012.06.897

葛新锋^1,2,
殷志锋¹

1.
许昌学院电气信息工程学院许昌 461000
2.
南京航空航天大学机电学院南京 210016

基金项目: 国家自然科学基金项目资助(51005122)

详细信息

中图分类号: TP241.2
计量
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- 被引次数: 0
出版历程
- 收稿日期: 2011-08-17
- 修回日期: 2012-05-01
- 刊出日期: 2012-11-15

A Spatial Redundant Robotic Manipulator’s Chaotic Self-motion

GE Xinfeng^1,2,
YIN Zhifeng¹

1.
College of Electrical and Information Eingineering, Xuchang University, Xuchang 461000
2.
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016

摘要

摘要: 建立了空间自由飘浮冗余度机器人的模型和运动学方程, 分析了其Jacobian矩阵, 得出相应的运动学逆解, 通过仿真验证了空间自由飘浮冗余度机器人自运动中存在混沌运动, 利用混沌分析的直接观察法、时间历程法、相图法和poincare映射法, 对一个空间3R刚性冗余度机器人, 采用PD控制器控制其末端执行器重复跟踪工作空间内一平面路径时连杆的自运动进行了研究. 结果表明, 该机器人的自运动存在混沌运动.
- 空间冗余度机器人 /
- Jacobian矩阵 /
- 自运动 /
- 逆运动学 /
- 混沌
Abstract: The model and kinematics equations of a floating redundant spatial robotic manipulator are established. The Jacobian matrices are analyzed, and the inverse kinematics is obtained. Chaotic motions which existed in the floating spatial redundant robotic manipulator's self-motions are proved by simulation. At last, a spatial 3R redundant robotic manipulator is taken as an example, and the links' self-motion has been studied when the end-effector tracking a plane path repeatedly in its workspace for PD controlling by analysis of direct observation, time history method, phase diagram method, and poincare mapping method. Results show that there exist chaotic motions in the self-motion of the floating spatial redundant robotic manipulator when solving the floating redundant robotic manipulator's inverse kinematics based on pseudo-inverse Jacobian matrix.
- Spatial redundant robot /
- Jacobian matrix /
- Self-motion /
- Inverse kinematics /
- Chaos

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参考文献(17)

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