基于似人特性的拟人臂机器人自主抓取动作规划  

Autonomous Grasp Motion Planning for an Anthropomorphic Robot Arm Based on Human Likeness

作　　者：陆志远[1,2] 甘亚辉[1,2] 戴先中[1,2] 段晋军[1,2] 

机构地区：[1]东南大学自动化学院,江苏南京210096 [2]复杂工程系统测量与控制教育部重点实验室,江苏南京210096

出　　处：《机器人》2014年第6期719-729,共11页Robot

基　　金：国家自然科学基金资助项目(61175113);国家863计划资助项目(2006AA040402;2007AA041703;2009AA043903-1-1);江苏省科技成果转化项目(BA2007058);江苏省普通高校研究生科研创新计划资助项目(CX10B 076Z);复杂工程系统测量与控制教育部重点实验室开放课题(MCCSE2014B02)

摘　　要：针对拟人臂机器人在家庭环境中的自主抓取任务,提出了一种强调运动姿态似人特性的拟人臂动作的规划方法.该方法分为两个部分,构型规划和运动规划,构型规划基于人体工程学中广泛使用的快速上肢评估准则评价机器人运动姿态的似人特性,并在此基础上以机器人末端传速速率最优为目标规划机器人运动过程中的关键构型.运动规划结合了Fitts定律和似人运动模型规划了机器人末端的空间轨迹.本文最后以Motoman SDA10D拟人双臂机器人和Mitsubishi PA10机器人为例,具体介绍了该方法的应用和规划的结果,规划结果证明了本方法的可行性和有效性.A motion planning method for anthropomorphic robot arm which emphasizes the human likeness of robot movement is proposed in this paper to solve the autonomous grasp task of service robot in house environment. The method involves configuration planning and movement planning. The Rapid Upper Limb Assessment （RULA） criterion which is widely used in applied ergonomics is adopted in configuration planning to assess the human likeness of robot movement, then the key configuration of the robot movement is planned to generate the maximal velocity transmission ratio at its end-effector. The Fitts law and human-like movement model is used in movement planning to generate trajectory of the robot. Illustrative example of this method applied to a dual anthropomorphic arm robot Motoman SDA10D and Mitsubishi PA10 is presented in this paper, and reasonable planning results confirm the feasibility and effectiveness of the method.

关 键 词：拟人臂机器人 似人特性 自主抓取 构型规划 运动规划 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]