【摘要】 针对冗余机械臂受到的关节驱动力矩有限的约束,提出基于广义加权最小范数法(GWLN)的算法.通过引入辅助变量,考虑重力和科里奥利力的影响,排除现有方法对机械臂低速运行的假定.在逆运动学求解时,对扩展变量的加权范数优化,使得规划关节加速度所需的力矩指令保持在驱动器输出范围之内.该算法的有效性通过数学证明得到验证.在MATLAB ROBOTIC TOOLBOX中对PUMA560机械臂的仿真结果证实,基于GWLN方法控制的机械臂在遵循关节力矩约束的同时,准确地完成操作任务.同零空间力矩优化方法及现有加权方法的仿真结果对比显示,基于GWLN方法的控制算法能够更加有效地保证力矩约束,具有更好的稳定性.更多还原

【Abstract】 A general weighted least norm(GWLN)based algorithm was proposed to solve the torque limit constraint for a redundant manipulator.An auxiliary variable was introduced to consider the Coriolis force and the gravity’s effect in order to eliminate the assumptions made by other algorithms in existence that the manipulator is running slow.The torque command for the planned joint acceleration was kept in the actuators’ output ranges by optimizing the extended variable’s weighted norm during inverse kinematic solution.The validity of the algorithm was demonstrated by a mathematical proof.A simulation of PUMA560 manipulator in the MATLAB ROBOTIC TOOLBOX shows that the manipulator controlled by the GWLN based method can comply with the joint torque constraint and accomplish the manipulation task.Comparison with the results generated by the null space torque optimization method and the existing weighted norm method shows that the GWLN based method is more effective and stable.更多还原