基于构形平面匹配的可重构机器人运动学求解方法的研究

项目名称： 基于构形平面匹配的可重构机器人运动学求解方法的研究

项目编号： No.51205074

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 机械工程学科

项目作者： 魏延辉

作者单位： 哈尔滨工程大学

项目金额： 25万元

中文摘要： 可重构机器人以"一套模块，多种构形"满足当前生产生活对机器人系统的实时、快速需要。然而没有统一的运动学求解形式极大限制了可重构机器人的应用。针对这一问题，本研究提出通过构形平面匹配的方法求解可重构机器人的运动学。首先研究机器人基本模块的运动学建模方法，根据组成构形的模块信息，自动建立可重构机器人运动学模型；然后按照划分原则将机器人在目标点的位形分解成若干个构形平面，并分别表示出每个构形平面的构形工作空间；根据构形平面的工作空间信息进行各个构形平面的姿态和位置匹配；最后通过平面构形的运动学求解，分别求解出各运动关节的广义运动量，进而可求得任意连接形式的可重构机器人运动学逆解。本项目不仅在可重构机器人的运动控制研究方面有很高的理论价值和研究意义，而且在任意串联形式的工业机器人控制及冗余机器人关键技术研究方面也有着重要的借鉴作用。

中文关键词： 可重构机器人；构形平面；运动学；轨迹规划；梯度投影法

英文摘要： With a set of modules and a variety of configurations, reconfigurable robots can satisfy the needs of real time and rapidity for applications in various domains. However, the applications are greatly limited without the unified form in kinematics solving methods. In response to this issue, a method to solve the inverse kinematics of reconfigurable robots based on configuration plane matching is proposed. Firstly, studying the kinematics modeling of the basic module in the reconfigurable robot and building a kinematics model automatically according to the module information of the configuration composition. Then, decomposing the work configurations of the robot at the target position into several configuration planes in accordance with the division principle, and representing the workspace of each configuration plane. The positions and orientations of these planes are matched according to the work space information of the configuration planes. Finally, by solving the kinematics of the plane configuration, generalized motion of each movement joint is calculated. Based on this, the inverse kinematics of reconfigurable robots under any connection form can be solved. This proposal not only has significant value in theory research on the motion control of reconfigurable robots, but also plays an imperative role in the

英文关键词： reconfigurable robot；configuration plane；kinematics；trajectory planning；gradient projection method