Safe Configuration Optimization of Flexible Joint Manipulator Based on Equivalent Model of Head Collision

被引：0
|
作者：
Meng D. [1 ,2 ,3 ,4 ]
Wang X. [1 ,2 ,3 ,4 ]
Liang B. [1 ,2 ,3 ,4 ]
Liang J. [1 ]
机构：
[1] Shenzhen Graduate School, Tsinghua University, Shenzhen
[2] Tsinghua National Laboratory for Information Science and Technology, Beijing
[3] Shenzhen Key Lab of Space Robotic Technology and Telescience, Shenzhen
[4] Shenzhen Engineering Lab of Precision Geometry Measurement Technology, Shenzhen
来源：
Jiqiren/Robot | 2017年 / 39卷 / 04期
关键词：
Collision safety index; Configuration optimization; Flexible joint; Head collision; Manipulator;
D O I：
10.13973/j.cnki.robot.2017.0523
中图分类号：
学科分类号：
摘要：
In order to improve head-collision safety of flexible joint manipulators, an optimization method of flexible joint manipulator configuration based on the manipulator safety index and gradient projection method is proposed, and the methods of determining the safe collision direction and the safe configuration are given. Firstly, the equivalent model of head collision of the flexible joint manipulator is established, in which the influence of the flexibility of the manipulator joint is taken into account. Then, the method of determining the direction of safe collision under fixed configuration and the method of determining the safe configuration under fixed collision direction are given respectively. Based on the manipulator safety index, the gradient projection algorithm is used to optimize the configuration of continuous path of the redundant flexible joint manipulator. Finally, a closed-loop simulation system is established. The effectiveness of using the gradient projection method to reduce the safety index of the manipulator is verified by a planar 3-DOF (degree of freedom) manipulator and a space 7-DOF manipulator respectively. Two simulation results show that the optimized safety index of the manipulator is reduced by 83.86% and 26.42%, respectively. © 2017, Science Press. All right reserved.
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页码：523 / 531
页数：8
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