Research On Motion Planning And Graphic Simulation Of 4-Dof Robot Arms And Dexterous Hand

The dissertation combined with the project of "Key Technology of Satellite Self-maintenance in Orbit and Tele-Manipulation" includes the following work: collision detection, non-collision track planning and motion planning of robot arms and dexterous hand. Also, these are demonstrated by graphic simulation.The graphic simulation can give us information which can't be conveyed by data. This dissertation has constructed VR (virtual reality) scene with VC++ and Open Inventor function library and each model in the scene with 'ProE'. The direct kinematics and inverse kinematics for the robot arms and dexterous hand have been analyzed respectively with geometric and analytical methods. The work discussed above is the theoretical foundation of collision detection and path planning for robot arms and dexterous hand.Collision detection and non-collision track planning play important roles as part of robot motion planning. Workspace are obtained by Monte Carlo method, This paper combines AABB bounding box and judge of points of intersection for collision detection between static obstacle and robot arms, by "expanding" obstacles, it is done by judge of distance and inclusion test. Collision-free motion planning is implemented automatically by seeking the local optimum knots of manipulator. Algorithm is improved by Matlab simulation.Cubic spline function is used for constructing joint trajectories of a certain path. Sequential Quadratic Programming (SQP) method is developed to schedule the time intervals between each pair of adjacent knots such that the total traveling time is minimized subject to the physical constraints on joint velocities, accelerations, and jerk. Algorithm Comparison of flexible polyhedron and SQP is done to show the good quality of SQP. Due to the fact that joint position errors decrease when the jerk decreases, comparisons with an alternative global optimum target relating to minimum-jerk (MJ) trajectory are exposed and the favorable joint trajectories are obtained by introducing a factor.In the last, graphic simulation system for robot arms and dexterous hand, in which some algorithms are simulated, is researched. Matlab is adopted to program the internet applications used for collision detection, non-collision track...