基于主从任务转化的冗余度机器人避障算法  

Obstacle Avoidance Algorithm for Redundant Robots Based on Transition between the Primary and Secondary Tasks

作　　者：申浩宇[1] 吴洪涛[1] 陈柏[1] 丁力[1] 杨小龙[1] 

机构地区：[1]南京航空航天大学机电学院江苏省精密与微细制造技术重点实验室,江苏南京210016

出　　处：《机器人》2014年第4期425-429,共5页Robot

基　　金：国家自然科学基金资助项目(51375230);国家863计划资助项目(2013AA041004);江苏省科技支撑计划重点项目(BE2013003-1;BE2013010-2)

摘　　要：在冗余度机器人的避障规划问题中,当障碍影响机器人末端运动时,避障运动和机器人的末端轨迹跟踪运动会发生相互冲突.针对这个问题,提出了基于主从任务转化的避障算法.该方法将避障运动的操作空间定义为1维的运动空间,引入了2个转换变量,可以根据得到的实时最小距离的变化,实现机器人末端的轨迹跟踪运动和避障运动之间光滑连续的优先级转换.最后,通过对一个3自由度平面机器人的仿真实验,对算法的正确性进行了验证.结果表明,机器人与障碍物的最近距离大于0.02m,并且机器人末端可以准确地到达目标位置.所提出的方法不仅能实现冗余度机器人的避障,而且能防止任务之间的冲突.Conflict will take place between the trajectory tracking motion and the obstacle avoiding motion of the endeffector of the redundant robot, if the motion of the end-effector is disturbed by any obstacles in the obstacle avoidance problem of redundant robots. To deal with the obstacle avoidance problem, an obstacle avoidance algorithm based on transition between the primary and the secondary tasks is presented. Firstly, the obstacle avoiding motion is defined in one dimensional operational space, and two transition variables are used to make a smooth and continuous priority transition between the trajectory tracking motion and the obstacle avoiding motion of the end-effector using the real-time minimum distance. Finally, the validity of the algorithm is manifested by simulation of a 3-DoF planar robot. Results show that the closest distance between the manipulator and the obstacle is greater than 0.02 m, while the end-effector of the robot can reach the target position accurately. As a conclusion, the redundant robot can not only realize the obstacle avoidance, but also prevents the conflict between tasks by the proposed approach.

关 键 词：冗余度机器人 避障 轨迹跟踪 操作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]