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首页> 外文会议>World Multiconference on Systemics, Cybernetics and Informatics(SCI 2002) v.6: Industrial Systems and Engineering I; 20020714-20020718; Orlando,FL; US >Trajectory Generation for Kinematically Connected Multiple Manipulators
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Trajectory Generation for Kinematically Connected Multiple Manipulators

机译：运动学连接的多个机械手的轨迹生成

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摘要

This paper represents an algorithm for planning and generating the motions of visual sensor and manipulators that are kinematically connected. In this paper, KIST Humanoid robot is used for verifying the algorithm. This robot has a vision system and two robot arms, and they are mounted on a single robot body. Given a task to be performed, the robot arms need to generate a short path for arm with satisfying the conditions of robot posture and joint constraints. Simultaneously, the camera must be placed for optimal viewing conditions so the task progress can be monitored. Since their robots are kinematically connected, motion of arm robot interferes with the motion of camera and similarly camera motion affects the arm motion. For generating a path for desired motion regardless of other robot's motion, this paper use the robot's kinematic redundancy. From an inverse matrix of Jacobian, null matrix of redundant robot is constructed, and then the equations of motion of connected robot are induced for the case of following the fixed and moving target. For realize more human-like motion, problems are extended to the motion of 3 connected robots. For generating the concurrent motion of two arms and visual tracking, property of 'task-priority' and 'null motion generation by null matrix' is used and relating equations are obtained. From these results, graphic simulations are performed and verified.
机译：本文提出了一种算法，用于规划和生成运动学连接的视觉传感器和机械手的运动。本文采用KIST Humanoid机器人对算法进行验证。该机器人具有视觉系统和两个机器人手臂，它们安装在单个机器人主体上。给定要执行的任务，机器人手臂需要在满足机器人姿势和关节约束条件的情况下为手臂生成一条短路径。同时，必须将摄像机放置在最佳观看条件下，以便可以监视任务进度。由于他们的机器人是运动学连接的，因此手臂机器人的运动会干扰摄像头的运动，类似地，摄像头运动也会影响手臂的运动。为了生成与其他机器人的运动无关的期望运动的路径，本文使用了机器人的运动学冗余。根据雅可比矩阵的逆矩阵，构造了冗余机器人的零矩阵，然后针对固定目标和运动目标推导了所连接机器人的运动方程。为了实现更像人类的运动，问题扩展到三个相连机器人的运动。为了产生两个手臂的并发运动和视觉跟踪，使用了“任务优先级”和“通过零矩阵产生零运动”的属性，并获得了相关方程。根据这些结果，进行图形仿真并进行验证。

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