基于任务优先级的仿人机械臂拟人运动规划  

Motion Planning for Humanoid Robotic Arm Based on Task-priority

作　　者：赵京[1] 宋春雨[1] 谢碧云[1] 

机构地区：[1]北京工业大学机械工程与应用电子技术学院,北京100124

出　　处：《北京工业大学学报》2014年第4期502-508,共7页Journal of Beijing University of Technology

基　　金：国家自然科学基金资助项目(51075005)

摘　　要：针对液体搬运是日常生活中最常见的动作之一,人臂可非常轻松地完成这一动作,但是对于仿人机械臂而言,如何使其如人臂般灵活地完成这一动作,却并不容易,以仿人机械臂运送水杯作为研究对象,对其进行任务描述.针对完成任务过程中需要同时考虑多个约束的情况,提出采用任务优先级或梯度投影法对其进行处理,并对这2种求解方法进行了比较.同时,对仿人机械臂的拟人化运动控制问题进行了研究,提出利用人臂臂姿指标来对仿人机械臂进行运动规划.最后在Inventor中建立虚拟仿真,并与人臂运动实验结果进行对比,从而验证该方法的可行性以及自主拟人运动的有效性.Liquid handling is one of the most common actions in daily life, and human arm can easily complete the action. However, it is not easy for the humanoid robotic arm to flexibly finish this task like human. This paper is based on the process of humanoid robotic arm transporting water glass, and the task is also descripted. When multiple constraint conditions should be taken into account for one task, the task-priority and gradient projection method are proposed to deal with the problem, and the two methods are compared. Then, the problem of generating human-like movements for robotic arms is studied, and the index of human arm posture is proposed and used for the humanoid robotic arm＇s motion planning. Finally, the virtual simulation is built by the Inwentor and compared with the human arm＇s motion experiment. The feasibility of this method and the effectiveness of autonomous humanoid moving are validated by the results.

关 键 词：仿人机械臂 任务优先级 人臂臂姿指标 臂姿 拟人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]