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Received:October 16, 2012 Revised:November 24, 2012
Received:October 16, 2012 Revised:November 24, 2012
中文摘要: 讨论了中医按摩机器人的双臂协调运动控制问题. 根据机械臂的结构特点, 将空间避碰问题转化为平面内的避碰问题, 对按摩机器人双臂推拿过程中可能发生的碰撞情况进行了分析. 利用平面几何方法, 对机器人双臂协调推拿过程进行了避碰规划, 设计出一套双臂协调运动控制策略. 利用MATLAB对双臂的避碰情况进行了运动学仿真, 仿真结果表明本文中设计的方法可以有效的实现双臂在推拿过程中的协调运动.
Abstract:Control of dual-arm coordinated motion of Chinese massage robot was discussed in this paper. According to the structural characteristics of the manipulators, the problem of collision avoidance in three-dimensional space was transformed into one in the relevant plane. With the method of plane geometry, a collision avoidance strategy was designed. Kinematic process of collision avoidance of the two arms was simulated by MATLAB. The results showed that the method designed in the paper was effective for coordinated movement between the two arms.
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基金项目:国家863计划项目(2008AA040206,2010AA040201)
引用文本：
曹端江,刘存根,鲁守银,吕骁,陈泽.中医按摩机器人双臂推拿过程的避碰控制.计算机系统应用,2013,22(5):94-97
CAO Duan-Jiang,LIU Cun-Gen,LU Shou-Yin,LV Xiao,CHEN Ze.Control of Collision Avoidance in Progress of Dual-Arm Manipulation by Chinese Massage Robot.COMPUTER SYSTEMS APPLICATIONS,2013,22(5):94-97
曹端江,刘存根,鲁守银,吕骁,陈泽.中医按摩机器人双臂推拿过程的避碰控制.计算机系统应用,2013,22(5):94-97
CAO Duan-Jiang,LIU Cun-Gen,LU Shou-Yin,LV Xiao,CHEN Ze.Control of Collision Avoidance in Progress of Dual-Arm Manipulation by Chinese Massage Robot.COMPUTER SYSTEMS APPLICATIONS,2013,22(5):94-97
