Research On General Kinematic Modeling And Mission Plan Method Of Robotic Manipulator

Along with the application of the robotic manipulator in the fields of manufacturing, and space exploration, robotic manipulators are becoming more complicated and various. Reconfigurable robotic manipulator stands out because of the characteristics of high universality. However, the traditional kinematics modeling and planning methods are not suitable for the reconfigurable robotic manipulators. For that reason, it has very important theoretical significance and application value to research universal kinematics modeling and mission planning of Reconfigurable robotic manipulators.Oriented to reconfigurable robotic manipulators, this paper focuses on universal kinematics modeling and mission planning. The main content of this paper includes the following aspects:1. A universal kinematics modeling method of reconfigurable robotic manipulators is derived. Combined with existing manipulator kinematics modeling methods’advantage, a universal kinematics modeling method is proposed by introducing "position vector" and "orientation vector". These two vectors describe any point position on the axis and axis orientation of the manipulator joint, respectively. The method lays a theoretical foundation for subsequent researches. Comparing with other modeling methods, the correctness and efficiency of the proposed kinematics modeling method are verified by applying it on an eight DOF reconfigurable robotic manipulator.2. Oriented to mission, a new inverse kinematics method is raised. The pose constraint equation is obtained by analyzing the mission of the manipulator, and the jacobian matrix for this task is derived by taking the derivative of the equation with respect to joint variable. Then the inverse kinematics solution at velocity level can be obtained. In addition, a factor is proposed by analyzing the iterative nature of the obtained inverse solution, which is introduced into the iterative equation to reduce iteration times. The correctness and practicality of the proposed inverse kinematics method are verified by forward kinematics calculating and path planning results of an eight DOF reconfigurable robotic manipulator under different pose constraint.3. Research is taken out on trajectory optimization of reconfigurable robotic manipulators. The gradient projection of the objective function is introduced into the null-space of the jacobian matrix to optimize the trajectory of the robot. A repetitive motion plan optimization operator is presented to solve joint angle drift of reconfigurable redundant robots whose end-effector is traced a closed path in the Cartesian space. In addition, a function whose integral is zero within a period of time is introduced to the joint space to avoid obstacle and guarantee the desired terminal configuration of the robot.4. Research is taken out on mission plan of reconfigurable robotic manipulators. Description method of the typical operation and mission division is obtained by analyzing common mission of reconfigurable robotic manipulators. The condition for path selecting is quantized, which is introduced into the path selection process to realize path selection. This paper focuses studying on the shortest path selection and collision-free path selection.5. Based on VC++and OpenGL simulation technology, a universal3D visual simulation software for robotic manipulator is developed. Moreover, three typical experiment tasks, including repetitive motion, obstacle avoidance and mission plan, are designed to demonstrate the efficiency of the proposed theories on an eight DOF reconfigurable robotic manipulator.