Motion Planning for Mobile Robots Based Kinematic Hardware-in-the-loop Simulation System

被引：0

作者：

Liu C. ^{[1
]}

Liu Y. ^{[2
]}

Song L.-B. ^{[1
]}

Zhang J.-W. ^{[1
]}

机构：

[1] Department of Mechanical Engineering, Tsinghua University, Beijing

[2] Beijing Institute of Tracking and Telecommunications Technology, Beijing

来源：

Yuhang Xuebao/Journal of Astronautics | 2021年 / 42卷 / 11期

关键词：

Hardware-in-the-loop simulation system; Inverse kinematics; Path planning; Super-redundant manipulator;

D O I：

10.3873/j.issn.1000-1328.2021.11.003

中图分类号：

学科分类号：

摘要：

Aiming at the poor motion accuracy of the mobile-robots-based hardware-in-the-loop simulation system and the need for the real-time motion compensation of the mobile robots by the manipulator, a global planning method is proposed, which takes the super-redundant manipulator as the planning object. This method equates the whole simulation system to a super-redundant manipulator, and then adjusts its joint configuration according to its self-motion, creating conditions for the follow-up real-time compensation control. Finally, a hardware-in-the-loop simulation system is built and the algorithm is verified by the experiments on this system. The experimental results verify the effectiveness and the necessity of the proposed algorithm. © 2021, Editorial Dept. of JA. All right reserved.

引用

页码：1365 / 1376

页数：11

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