摘要
冗余度机器人具有比完成指定任务更多的自由度,因而能利用其多余的自由度来进行避障、回避关节奇异、减小运动能量等各种运动学与动力学优化。首先采用梯度投影算法对上述3种优化进行了测试,得到满意的梯度投影函数及各种系数。在此基础上,构建虚拟机器人, 并联接罗技力反馈手柄,组成力反馈遥操作系统。
As a redundant robot has more degrees of freedom than required for a task, it can accomplish the optimized tasks such as obstacle avoiding, joint limit avoiding and decreasing the kinetic eneryg and so on. We has made several tests about the optimizations mentioned using gradient projection method and obtained the optimization functions and indexes we needed. Then we built a virtual 3R robot based the optimization functions. Last we connected the force feedback joystick, produced by Logitech company, to the slave robot to build a teleoperation system.
出处
《机电一体化》
2006年第3期39-42,共4页
Mechatronics
关键词
机器人
遥操作
冗余度
力反馈
robot teleoperation redundant force feedback
