Robot acceleration level task priority inverse kinematics

Robot acceleration level task priority inverse kinematics

Robot acceleration level inverse kinematics

The above mainly includes the main task and zero space task . It is generally applicable to the control of a 7-DOF manipulator , More priority task decomposition will lead to a large amount of computation , The requirements for the control system of the manipulator are also higher . Hierarchical Cartesian tasks , It is mainly aimed at the task accuracy control of the relevant position or attitude in the main capture direction for the specific docking task , So as to ensure the smooth progress of the capture target . The manipulator has enough degrees of freedom to complete high priority tasks ; And subtasks The task accuracy of is to ensure the accuracy of high priority tasks , The manipulator shall complete secondary tasks as much as possible ; The task of zero space is when both high priority tasks and secondary tasks are completed , The self motion configuration of the manipulator is adjusted in the zero space of the two .

In acceleration inverse kinematics , Because given the acceleration of Descartes , Therefore, it is necessary to correct the Cartesian acceleration ; In the Cartesian impedance relation , Because of the impedance relation between the end position and the attitude , So it involves the deviation of position and attitude . In impedance control , It is necessary to calculate the attitude error , Different from the position deviation correction , The attitude error can not be directly obtained from the difference between the two times . Therefore, it is necessary to make appropriate conversion according to the representation method of attitude . Attitude error is very important for impedance control and Cartesian trajectory correction in the terminal attitude direction . The attitude can be determined by Euler angle 、 Axis angle and quaternion, etc .

The inverse kinematics of acceleration level can be expressed as follows ：

Closed loop acceleration stage inverse kinematics

Stability description

All in all , Robot acceleration control is the basis of robot dynamic control , Its main uses are as follows ：

（1） Acceleration control highlights the high-speed and dynamic performance of the robot ;

（2） The optimal control of acceleration can put the optimization options including torque into the zero space ;

（3） Acceleration control can be used in the impedance control algorithm of robot based on torque tracking ;

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