摘要
为提高NAO机器人手臂抓取物体的可靠性,本论文提出关节空间和笛卡尔空间控制相结合的方法,设计NAO机器人手臂的轨迹进行目标抓取。由于目标大小已知,利用关节空间控制可以预先设定NAO机器人抓取的最佳姿态,即NAO机器人手臂各个关节角度。运用正运动学,计算手臂移动位置。在设定姿态后的位置与目标点之间,利用笛卡尔空间控制进行轨迹规划。实验表明,在NAO坐标系下,手臂抓取范围内该算法能够在给定范围内准确地完成空间抓取目标任务。
In order to improve reliability of NAO robot＇s arm grasping,this article designs a grasping track,which combines the joint space and Cartesian space,to grasp an object.Since the size of target object is known,the Joint space control can pre-set the best attitude of NAO robot grasping,which is joint angles of NAO robot arm.And then compute the position of arm＇s moving with forward kinematics.With the Cartesian space control,the track was arranged between the position of settled posture and the goal object.The experiment shows this algorithm can grasp the goal object in space accurately within a given range in NAO coordinate.
出处
《长春理工大学学报（自然科学版）》
2014年第6期107-110,共4页
Journal of Changchun University of Science and Technology(Natural Science Edition)
基金
吉林省科技发展计划项目(20120333
2013010101054JC)
吉林省留学回国人员择优资助项目(RL201327)
