Optimizing And Control For The Motion Of Redundancy Robot

Redundant robot, which consists of Space Technology and Advanced Manufacturing Technology, is an advanced robotic system. It appears in the late 80s of the 20th century and is developed in the 90s of the 20th century. By the use of redundancy, the robot can overcome many shortcomings, such as poor flexibility, low-avoidance capability, join overrun, poor dynamic performance and so on. Most important, the motion of robot can be optimized by the use of redundancy. For different robots, we can make the right optimization objective, and for this optimization objective, we can adjust the motion of the robot by adjusting the redundant joint, and finally we can achieve the target of optimization of robot motion.Redundant robot is widely used because of its redundancy. The topics, with biomedical Engineering background, funded by The National Natural Science Foundation of China (30801302) and State Key Lab- oratory of Mechanical System and Vibration Fund (MSV-MS-2010-02) got big success in using redundancy in medical robot. The robot's main work is helping the doctor with delicate operation, such as cutting, drilling and holding. The following is the description of the main work of this article.1. Establish D-H Coordinate, and calculate the kinematics solution of the robot. By the method of separating position from attitude, we obtain the inverse kinematics of the robot.2. Introduce the interpolation method of the space straight line and circular and then analyze the interpolation errors.3. Study the optimization for the motion of the robot. According to the feature of the medical robot, two optimization algorithms are proposed. First, the largest joint displacement can be reduced by choosing the right value of the redundant joint. So interpolation time and the range of motion would be reduced and the operation efficiency of the robot would be improved. Second, the joint displacement can change near the center of the joint limits by choosing the right value of the redundant joint.4. Introduce some specific issues of motion control of the medical robot.This thesis focuses on the redundancy of redundant robot and proposes some optimal motion control methods. Further, the result of this study is successfully used in the medical robot and got good experimental result. In all, this thesis provides some ideas and methods for the later study of redundant robot.