基于二分逼近原理的定姿态工作空间快速搜索方法  

A Fast Search Method for Computing the Constant-Orientation Workspace Based on the Binary Approximating Principle

作　　者：朱海飞[1] 管贻生[2] 吴文强[1] 蔡传武 周雪峰[1] 张宏[4] 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510641 [2]广东工业大学机电工程学院,广东广州510006 [3]上海ABB工程有限公司,上海201319 [4]阿尔伯塔大学计算机科学系

出　　处：《机器人》2013年第6期709-715,共7页Robot

基　　金：国家自然科学基金资助项目(50975089);广东省自然科学基金重点支持项目(S2013020012797);中国博士后科学基金资助项目(2012M521600)

摘　　要：为求解串联机器人的定姿态工作空间,提出一种基于二分逼近原理的快速搜索方法.该方法以机器人的逆运动学和碰撞二值测试为基础,通过引入包含姿态信息的虚拟直线并选择线上两点（定姿态工作空间内外各一点）,不断进行二分和测试从而逐步逼近定姿态工作空间的边界.首先介绍了定姿态工作空间的概念及研究现状,提炼出其问题模型及求解思路;然后详细介绍了二分逼近搜索法及其在1维、2维和3维定姿态工作空间求解中的应用;最后通过仿真分析和比较验证了算法的有效性,表明二分逼近搜索法在精度为1mm时1维定姿态工作空间求解平均耗时14.5ms,适用于不同自由度和构型的机器人的1维~3维无碰定姿态工作空间求解问题.In order to compute the constant-orientation workspace of serial robots, a fast search method based on the binary approximating principle is proposed. On the basis of binary tests of the inverse kinematics and the collision detection of a robot, this method introduces virtual straight lines containing the orientation information and selects two points（one locates inside the constant-orientation workspace, while the other outside） to carry out the dichotomy and test processes, so as to approach the boundary of the constant-orientation workspace step by step. Firstly, the concept and the state of the art of constant-orientation workspace are introduced in brief. The constant-orientation workspace problem is abstracted, followed by the basic solving ideas. Then the binary approximating search method and its applications to computing the 1D、2D and 3D constant-orientation workspace are presented in detail. Finally, the effectiveness of the proposed method is demonstrated by simulations and comparisons, showing that the method achieves the accuracy as 1 mm consuming about 14.5 ms to search the 1D constant-orientation workspace, and is suitable for solving the 1D ~ 3D collision-free constant-orientation workspace problem of robots with different degrees of freedom or configurations.

关 键 词：定姿态工作空间 二分逼近搜索 串联机器人 无碰撞 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]