一种冗余机械臂的多运动障碍物避障算法  

Multiple Mobile Obstacles Avoidance Algorithm for Redundant Manipulator

作　　者：管小清[1,2] 常青[1] 梁冠豪[3] 葛卓[3] 

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]北京电子科技职业学院教务处,北京100176 [3]北京理工大学机电学院,北京100081

出　　处：《计算机测量与控制》2015年第8期2802-2805,共4页Computer Measurement &Control

基　　金：省部级预研项目(65822576);北京市教育委员会科技计划面上项目(KM201310858004;KM201310858001)

摘　　要：冗余机械臂的避障问题一直是工业机器人应用领域的研究热点之一;为了改进传统避障算法的不足,提出了一种多运动障碍物的避障算法;该算法利用各障碍物的运动状态得到与机械臂之间的最小预测距离,并将其利用雅可比转置矩阵转化为机械臂对应杆件上的躲避速度,再将躲避速度引入梯度投影法中求得机械臂的关节角速度,并通过积分得到避障运动中机械臂的关节角度值,在完成末端轨迹跟踪的同时实现冗余机械臂的实时避障;利用一款七自由度冗余机械臂对该算法进行了仿真验证,结果表明该算法能有效实现冗余机械臂对多运动障碍物的避障。The obstacle avoidance of redundant manipulator is one of research focus in the field of industrial robots. In order to overcome the shortcomings of the traditional obstacle avoidance algorithms, a obstacle avoidance algorithm which applicable to multiple mobile obstacles is proposed in the paper. The minimum prediction distance between the obstacle and manipulator is obtained according to the state of the ob stacle, and transformed to the escape velocity of the corresponding rod of the manipulator. The escape velocity is introduced to the gradient projection method to obtain the joint velocity of manipulator to complete the obstacle avoidance trajectory planning. A manipulator with seven degree of freedom is used in the simulation, and the result verifies the effectiveness of the algorithm.

关 键 词：冗余机械臂 多运动障碍物避障 最小预测距离 躲避速度 雅可比转置矩阵 梯度投影法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]