【摘要】 多机械臂协作系统是一个多输入输出、时变性、强耦合性的系统，由于存在外界扰动、负载的变化以及机械臂之间的相互干扰，多机械臂协作系统需要解决不确定环境交互以及协调规划问题。针对多机械臂协作系统耦合运动协调问题，提出了基于运动学约束的耦合运动自适应协调控制方案。通过协调搬运任务来研究耦合运动，根据自适应协调算法，在线修正从机械臂轨迹，保证了协调控制精度。基于多机械臂运动学约束算法进行多机械臂协调运动动态仿真及实验分析。仿真结果显示机械臂在轨迹规划路径的各点处均保持着协调关系。实验结果表明所提多机械臂协作系统耦合运动约束控制方案协调效果较好，控制精度较高。更多还原

【Abstract】 The multi-manipulator collaboration system is a multi-input/output, time-varying and strongly coupled system. Due to external disturbances, load changes and mutual interference between the manipulators, the multi-manipulator collaboration system needs to solve uncertain environment interaction and coordination planning problems. A coupling motion adaptive coordination control scheme based on kinematic constraints is proposed to solve the coupling motion coordination problem of multi-manipulator cooperative system. The coupling motion is studied by coordinating the handling tasks, and the effectiveness of the coupling motion coordination scheme is verified. The dynamic simulation and experimental analysis of multi-manipulator coordinated motion are carried out based on the multi-manipulator kinematics constraint algorithm. The simulation results show that the manipulator maintains the coordination relation at all points in the planned trajectory. The experimental results show that the coordination effect of the coupling motion constraint control scheme of the multi-manipulator cooperative system proposed in this paper is good.更多还原