具有优先级的多任务运动协调物理约束的四肢操纵器.
Aizhen Xie1,2, Xuewen Rong2, Guoteng Zhang2
1School of Artificial Intelligence, Shandong University, Jinan 250300, China.
Cyborg and bionic systems (Washington, D.C.)
|May 20, 2025
概括
这项研究引入了一个新的运动协调框架,用于四足机器人与手臂. 该系统优先考虑像轨迹跟踪和物理约束等任务,使复杂环境中能够进行强大的操作.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 机械电子学是什么意思 机械电子学
背景情况:
- 带有操纵器的四肢机器人越来越多地用于非结构化环境中的任务.
- 这些机器人的高度自由度对运动控制构成了挑战.
- 现有的方法难以同时协调腿部运动和手臂操纵.
研究的目的:
- 为四足操纵者开发一种新的运动协调框架.
- 为了解决高自由度机器人的冗余问题.
- 为了实现复杂任务的适应性和最佳运动生成.
主要方法:
- 提出了一个多任务优先级和零空间投影框架.
- 定义了三个优先任务:终端效应器轨迹跟踪,物理约束满足和可操纵性增强.
- 一个全身控制器集成了动力学,反向动力学,多目标优先级和力约束.
主要成果:
- 该框架可自适应地为机器人的不同部件产生最佳运动.
- 模拟和实验证明了算法的有效性.
- 机器人实现了强大而准确的操作空间端效应器跟踪,误差低于3厘米.
结论:
- 拟议的框架有效地管理了协调四肢运动和手臂操纵的复杂性.
- 这种方法提高了机器人在需要在物理限制范围内精确操纵的任务中的性能.
- 经过验证的算法为多功能机器人系统提供了重大进步.
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