中山大学学报（自然科学版）2016，Vol.55Issue(2)：52-57,6.DOI:10.13471/j.cnki.acta.snus.2016.02.010
移动机械臂的协调运动方案设计及验证
Design and verification of coordinated motion scheme for mobile manipulators
摘要
Abstract
A mobile manipulator is composed of a mobile platform and a stationary manipulator fixed to the platform.In order to achieve the coordinated motion control of mobile manipulators,the mobile plat-form and the manipulator have to fulfill tasks simultaneously.According to the analysis of kinematics for the mobile manipulator,a coordinated motion scheme based on the minimum velocity norm is proposed and investigated.Such a scheme can not only control the motion of the mobile platform,but also coordi-nate the manipulator to complete tasks simultaneously.Besides,the coordinated motion scheme can be converted equivalently to a standard quadratic program,which can be solved by an effective numerical al-gorithm.Finally,the mobile manipulator is applied to perform a circular path and the corresponding sim-ulative results validate the effectiveness of the coordinated motion scheme.关键词
移动机械臂/二次规划/协调运动/数值算法Key words
mobile manipulator/quadratic programming/coordinated motion/numerical algorithm分类
信息技术与安全科学引用本文复制引用
肖林,周文辉..移动机械臂的协调运动方案设计及验证[J].中山大学学报（自然科学版）,2016,55(2):52-57,6.基金项目
国家自然科学基金资助项目（61503152，61563017，61561022，61363073，61363033）；湖南省教育厅优秀青年资助项目（15B192）；吉首大学2015年实验室开放基金资助项目（JDLF2015013）；吉首大学2015年校级课题资助项目（15JDX020）；吉首大学2015年大学生研究性学习和创新性实验计划资助项目 （）
