9-DOF超冗余机器人轨迹规划优化算法  

Research on the Optimal Algorithm for Trajectory Planning of a 9-DOF Hyper-Redundant Robot

作　　者：贾庆轩[1] 褚明[1] 孙汉旭[1] 洪磊[1] 

机构地区：[1]北京邮电大学自动化学院,北京100876

出　　处：《北京邮电大学学报》2008年第2期20-25,共6页Journal of Beijing University of Posts and Telecommunications

基　　金：国家"863计划"项目(2004AA74101);教育部科学技术研究重大项目(307005)

摘　　要：以太空舱内机器人系统9-自由度(DOF)超冗余模块机器人为研究对象,以避关节极限作为优化指标,考虑容错性能,利用微分运动的方法,分别提出了适于计算机迭代计算的冗余机器人在笛卡儿空间进行手爪姿态可变时的直线轨迹优化算法和手爪经过空间中任意不共线3点决定的平面内的圆弧轨迹优化算法.在优化算法的验证实验中,实现了利用冗余机器人完成直线轨迹拉抽屉、抓棒料和圆弧轨迹开厨门等动作.Aimed at 9-degree of freedom（DOF） hyper-redundant module robot in intra-vehicular robot system, attention is given to the avoiding joint limits as an optimal mark. Two different iterative algorithms considering fault-tolerance for trajectory planning of redundant robot in Cartesian space are then proposed by using the method of differential locomotion. The first algorithm is for linear-path in which the pose of manipulator can be changed, the second is for circular-path in the plane decided by three noneollinear arbitrary points in the space. Experiments on the specimen robot platform are performed to validate the above algorithms. And the hyper-redundant robot＇s actions, such as pulling drawers, grapping club-shaped stuff along linear-path and opening doors along circular-path are realized.

关 键 词：超冗余 避关节极限 容错 轨迹规划 优化 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]