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为了解决移动机械手协调控制问题 ,研究了轮式移动机械手的运动规划方法。首先推导出轮式移动机械手的运动学模型 ,提出轮式移动机械手广义雅可比矩阵。其次给出了基于广义雅可比矩阵的轮式移动机械手分解运动速度控制算法 ,把移动机械手末端效应器的运动同时分解为机械手的运动和移动平台的运动。最后 ,用计算机仿真实验验证了该算法的正确性
In order to solve the problem of coordinated control of mobile manipulator, the movement planning method of wheeled mobile manipulator is studied. First, the kinematics model of wheeled mobile manipulator is deduced, and the generalized Jacobian matrix of wheeled mobile manipulator is proposed. Secondly, based on the generalized Jacobian matrix, the moving speed control algorithm of the wheeled mobile manipulator is given. The movement of the mobile manipulator end effector is decomposed into the movement of the manipulator and the movement of the moving platform simultaneously. Finally, computer simulation experiments verify the correctness of the algorithm