Tính toán mô men hệ robot dư dẫn động có liên kết phi holonom

NGHIEN CIJfU-TRAODOl

TiNH TOflN MO MEN HE ROBOT

DCr D^N DONG CO LIEN KET PHI HOLONOM

CALCULATE THE MOMENT OF REDUDANT ROBOT SYSTEMS WHICH

HAVE NONHOLONOMIC CONTRAINTS

PGS, TS. Chu Anh My, ThS. DflPng Xuan Bien, TS. Do Ti^n Lap,

ThS. Le Chi Thanh, KS. Hoang Diifc Long

Hpe vien Ky thuat Qudn sfl.

T6M TAT

Xdc dinh qui ludt mo men ddn dgng cdc khdp robot cd y nghia rdt quan trgng trong thiet keket

cdu robot, liia chon cO cdu dan dgng vd ddc biet Id tinh todn cdc ludt dieu khien. Bdi bdo ndy, trinh bdy

mgt phUOngphdp xdc dinh quy ludt mo men ddn dgng cdc khdp ciia he tay mdy n khdu tich hgp tren mo

dun di dgng (robot dU ddn dgng cd cdc lien ket phi holonom). Vdi ddu vdo Id qui ludt chuyen dgng cho

trUdc ciia khdu cdng tdc, chung ta se xdc dinh dUdc qui ludt md men ddn dgng cdc khdp tren cd sd thiet

ldp cdc phUdng trinh dgng hoc, cdc phUdng trinh lien ket phi holonom, cdc phUdng trinh vi phdn chuyen

dgng cua he. Vdn di dUdc gidi quyet hieu qud thong qua ly thuyet cd hoc he nhieu vdt vd mgt so ki thudt

tinh todn, lap trinh.

Tfl khoa: Moomen he robot dU ddn dgng, lien ket phi holonom.

ASBTRACT

Determinedness the laws of moment of robots joints is very important meaning in design robots

structure, choose mechanical system and calculation the laws of control specially. This paper present a

method to determine the laws of moment of robot's joints in manipulator system with n-links are

intergrated on mobile modul (redundant robot has nonholonomic constraints). If we have the laws of

moving of task links, we will determine the laws of moment of joints by design the kinematic equations,

nonholonomic contracts equations, differential motion equations of system. The problem is solved efficiently

through mechanical bodies system and some methods to calculate, to program.

Keywords: Moment of redundant robot systems, nonholonomic contraints.

TAP CHl CO KHi VI£ T NAM V Sd 4 (Thang 4 nam 201