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Kinematics Planning and Control of Redundant Robots Based on Multi-sensor Information
Author(s): 
Pages: 361-367
Year: Issue:  4
Journal: ROBOT

Keyword:  位姿检测多传感器融合运动规划奇异;
Abstract: 提出了一种基于多传感器信息的冗余度机器人规划与控制的模型,利用不同传感器本身的特性,分阶段地对多传感器的信息进行融合,减少规划时间,并在冗余度机器人的运动过程中,不断地提高位姿检测的精度.将远距离的宏观规划和近距离的微调结合起来,增加了抓持的可靠性.利用移动冗余度操作臂系统结构的几何特点进行了运动学分析、避奇异的方法研究及仿真对比分析.应用所提出的研究方法获得了较好的实验效果.
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