基于雅可比转秩-RRT法的冗余机械手路径规划  

Path Planning Approach for Redundant Manipulator Based on Jacobian Transpose-RRT Algorithm

作　　者：周芳[1] 朱齐丹[1] 张新福 吴叶斌[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]海军后勤技术装备研究所,北京100072

出　　处：《控制工程》2009年第6期756-759,共4页Control Engineering of China

基　　金：省级自然科学基金资助项目(60875025);哈尔滨工程大学校基金资助项目(002040260746)

摘　　要：针对核反应堆检修用机械手在末端任务给定的无碰撞路径规划问题进行研究。提出一种将雅可比转秩控制算法与快速搜索随机树法相结合的混合算法,通过选择距目标点工作空间距离最近的位姿点作为树的扩充节点,避免对逆运动学进行求解。利用雅可比转秩控制算法计算出最优扩充方向,采用二分梯度下降扩充方法对末端工具速度加以限制,避免关节速度发生突变。仿真结果表明该混合算法的快速性和有效性。The problem of collision-free path planning for nuclear reactor repairing manipulator with the given end path is considered. A hybrid algorithm of combining the transpose of Jacobian control algorithm with rapidly-exploring random tree method is presented. The nearest configuration point to the workspace with goal point is taken as the expanded node of the tree to avoid the solving of inverse kinematics. The best expanding direction is calculated with the jacobian transpose control algorithm. And the velocity of the end tool of the manipulator is restricted by using the bisection gradient-decent extend algorithm to avoid the occurrence of joint velocity mutation. The simulation results show the rapidity and validity of the proposed hybrid algorithm.

关 键 词：冗余机械手 快速搜索随机树 路径规划 工作空间 雅可比转秩 逆运动学 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]