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首页> 外文期刊>Journal of robotic systems >Inverse Dynamics of Redundant Manipulators Using a Minimum Number of Control Forces
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Inverse Dynamics of Redundant Manipulators Using a Minimum Number of Control Forces

机译：使用最小数量的控制力的冗余机械手的逆动力学

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The number of the control actuators used by the inverse kinematics and dynamics algorithms that have been developed in the literature for generating redundant robot joint trajectories is equal to the number of the degrees of freedom of the manipulator. In this article, an inverse dynamics algorithm that performs the tasks using only a minimum number of actuators is proposed. The number of actuators is equal to the dimension of the task space, and the control forces are solved simultaneously with the corresponding system motion. It is shown that because all degrees of freedom are not actuated, the control forces may lose the ability to make an instantaneous effect on the end-effector acceleration at certain configurations, yielding the dynamical equation set of the system to be singular. The dynamical equations are modified in the neighborhood of the singular configurations by utilizing higher-order derivative information, so that the singularities in the numerical procedure are avoided. Asymptotically stable inverse dynamics closed-loop control in the presence of perturbations is also discussed. The algorithm is further generalized to closed chain manipulators. Three-link and two-link redundant planar manipulators are analyzed to illustrate the validity of the approach.
机译：由反向运动学和动力学算法使用的控制致动器的数量已在文献中被开发出来，用于生成冗余的机器人关节轨迹，该数量等于操纵器的自由度。在本文中，提出了一种仅使用最少数量的执行器执行任务的逆动力学算法。致动器的数量等于工作空间的尺寸，并且控制力与相应的系统运动同时解决。结果表明，由于并未激活所有自由度，因此控制力可能会失去在某些配置下对末端执行器加速度产生瞬时影响的能力，从而使系统的动力学方程组变得单一。通过利用高阶导数信息对动力学方程进行奇异构造的修改，从而避免了数值过程中的奇异性。还讨论了存在扰动时的渐近稳定逆动力学闭环控制。该算法进一步推广到闭环操纵器。分析了三连杆和两连杆冗余平面操纵器，以说明该方法的有效性。

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