| 引用本文: | 陈启军,王月娟,陈辉堂.运动学补偿的宏2微机器人连续轨迹控制研究[J].控制理论与应用,2001,18(1):12~16.[点击复制] |
| CHEN Qi-jun,WANG Yue-juan,CHEN Hui-tang.Research on Continuous Trajectory Tracking Control of Macro-Micro Manipulator System Based on Kinematic Compensation[J].Control Theory and Technology,2001,18(1):12~16.[点击复制] |
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| 运动学补偿的宏2微机器人连续轨迹控制研究 |
| Research on Continuous Trajectory Tracking Control of Macro-Micro Manipulator System Based on Kinematic Compensation |
| 摘要点击 1607 全文点击 1814 投稿时间：1998-12-28 修订日期：2000-01-12 |
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| DOI编号 10.7641/j.issn.1000-8152.2001.1.003 |
| 2001,18(1):12-16 |
| 中文关键词 宏-微机器人 连续轨迹跟踪 任务放大 运动学补偿 |
| 英文关键词 macro-micro manipulator continuous trajectory tracking task augment kinematic compensation |
| 基金项目 国家自然科学基金(60005002)资助项目. |
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| 中文摘要 |
| 一小机械手附在一大机械手末端构成的系统称为宏-微机器人系统. 介绍了宏-微机器人连续轨迹控制的新方法. 对宏-微机器人的控制在关节空间进行,通过微机械手的快速运动对宏机械手的轨迹误差在线补偿. 宏-微机器人轨迹规划离线进行,通过任务放大的方法分解宏-微机器人运动学冗余. 仿真和实验证明了方法的有效性. |
| 英文摘要 |
| A small manipulator is attached at the tip of a large manipulator, this kind of system can be regarded as macro-micro manipulator system. This paper presents a kind of novel control strategy of continuous trajectory tracking of macro-micro manipulator system. Tracking errors of macro manipulator are compensated by the fast adjustment of micro manipulator and the control is implemented in joint space. Trajectory planning is completed off-line and the kinematic redundancy of macro-micro manipulator system is resolved by task augment. Simulation and experiment showed the efficiency of proposed method. |