上海交通大学学报

上海交通大学学报（自然版） ›› 2014, Vol. 48 ›› Issue (07): 922-928.

• 自动化技术、计算机技术 • 上一篇    下一篇

面向托卡马克第一壁检测的超冗余机械臂运动学分析

屈云飞a，陈卫东a，曹其新b
  

  1. (上海交通大学 a. 自动化系，系统控制与信息处理教育部重点实验室；b. 机器人研究所，  上海 200240)
     
  • 收稿日期:2013-12-26 出版日期:2014-07-28 发布日期:2014-07-28
  • 基金资助:

    磁约束聚变堆若干相关工程技术研究MCF装备的智能维护和远程操控技术研究(2011GB113005)项目，国际热核聚变实验堆(ITER)计划专项(国内研究) (2012GB102001)资助

Kinematics Analysis of Hyper-Redundant Manipulator Used for Inspection of First Wall of Tokamak

QU Yunfeia,CHEN Weidonga,CAO Qixinb
  

  1. (a. Key Laboratory of System Control and Information Processing of the Ministry of Education,  Department of Automation; b. Research Institute of Robotics,
    Shanghai Jiaotong University, Shanghai 200240, China)
  • Received:2013-12-26 Online:2014-07-28 Published:2014-07-28

摘要：

针对托卡马克第一壁大范围高精度检测的需要，设计了一种超冗余13DOF宏微式机械臂. 为解决超冗余机械臂运动学计算快速性与精确性之间的矛盾，提出了一种考虑机械臂作业环境结构的运动学算法. 该算法利用宏机械臂平面多连杆的构型特点和圆弧形的运动轨迹有效降低了逆运动学计算的复杂性. 利用摄动法解决了微机械臂处于奇异位置时，运动学逆解无法解析求取的问题，借助能量最优原则唯一确定存在多解或无穷多解时逆解的选取.最后通过仿真验证了该运动学计算方法的有效性.
 
 

关键词: 托卡马克, 超冗余, 机械臂, 环境结构, 运动学

Abstract:

In order to accomplish large-space inspection of the first wall of Tokamak with high accuracy, a 13DOF hyperredundant manipulator  having a macromicro structure was designed. To overcome the contradiction between rapidity and precision of kinematics computation, a kinematics algorithm was proposed by taking into account the task environment structure. The proposed algorithm takes advantage of the planar multilinks configuration of macro manipulator and the circular motion trajectory to reduce the complexity of inverse kinematics. A perturbation method was introduced to resolve the computation of inverse kinematics when the micro manipulator was in singularity configurations, and energy optimized strategy was chosen to determine the inverse solutions for micro manipulation which might have lots of or even infinite solutions for some configurations. The effectiveness of the proposed algorithm was validated through simulation.
 

Key words: Tokamak, hyper redundancy, manipulator, environment structure, kinematics

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