面向WTAs的VHR双臂避碰操控算法  

Algorithm for WTAs-oriented VHR dual-arm collision-free operation and control

作　　者：李华忠[1] 梁永生[1] 吴险峰[1] 盛建强[1] 

机构地区：[1]深圳信息职业技术学院软件学院,广东深圳518172

出　　处：《计算机工程与应用》2014年第14期14-21,115,共9页Computer Engineering and Applications

基　　金：国家重点实验室开放基金(No.SKLRS-2012-MS-06);广东省自然基金(No.SZ011010006117;No.S2011040000672);深圳基础研究基金(No.JC201006020820A;No.JCYJ20120615101640639);广东省高职教育信息技术类课题(No.xxjs-2013-1019);院科技创新团队项目(No.CXTD2-002)

摘　　要：针对虚拟仿人机器人(VHR)处理工作空间多目标区域(WTAs)避碰操控问题,先基于齐次变换矩阵和链式相乘法则,建立了VHR双臂机理正向运动学模型,进而推导了两种求解VHR双臂逆运动学的公式(DLS-SVD法和基于链式解耦的解析法);其次,建立了WTAs的数学模型,并以WTAs位姿为操控目标,提出了融合正向和逆向运动学及其双向快速搜索随机树算法的VHR双臂避碰操控算法;最后,通过三维仿真建立VHR虚拟样机,验证了提出算法的正确性和有效性。As for the collision-free operation and control problems as encountered by the Virtual Humanoid Robot（VHR） in WTAs, firstly, based on the homogeneous transformation matrix and chain rules via multiplication, a model regarding VHR dual-arm forward kinematics is established, then two formulas for solving VHR dual-arm reverse kinematics are deduced（DLS-SVD method and analytical method based on chain decoupling）. Secondly, the mathematical model of WTAs is established, and an algorithm for VHR dual-arm collision-free operation and control that integrates forward and reverse kinematics as well as Bi-directional Rapidly-exploring Random Trees（BiRRTs）is raised by taking the WTAs pos-ture as the target of operation and control. At last, a virtual prototype of VHR is established through three-dimensional simulation, verifying the correctness and effectiveness of the algorithm mentioned.

关 键 词：虚拟仿人机器人 双臂操控 双向快速搜索随机树 工作空间目标区域 阻尼最小二乘-奇异值分解(DLS-SVD)法 逆运动学(IK)解析法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]