移动机械臂无碰抓取方法的研究  

A Method for Collision-free Grasp of Mobile Manipulator

作　　者：杜峰[1] 苏丽颖[1] 焦继乐[2] 曹志强[2] 

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 [2]中国科学院自动化研究所复杂系统管理与控制国家重点实验室,北京100190

出　　处：《机械科学与技术》2016年第4期535-538,共4页Mechanical Science and Technology for Aerospace Engineering

基　　金：2013年度北京市教委青年拔尖人才培养计划项目;北京工业大学青年导师国际化能力发展计划项目(2014)资助

摘　　要：提出了一种基于A*算法的移动机械臂无碰抓取方法。根据机械臂的初始姿态和目标物体的空间位置以及障碍物的约束,利用A*算法规划出机械臂末端无碰的轨迹,进而利用冗余度机械臂多解的特性,结合逆运动学,给出障碍物约束下基于最小关节角偏移量优化指标的关节角优化方法。同时,机械臂可根据当前环境的变化更新其末端轨迹,并相应调整姿态以提高适应性。仿真验证了该算法的有效性。According to the initial posture of a mobile manipulator, the position of the object to be grasped as well as the constraints of obstacles, the collision-free trajectory of the mobile manipulator＇s end point is planned with A＊ algorithm. Considering that there are multiple solutions for redundant DOF and using inverse kinematics, we propose a joint angle optimization method based on minimum angle offset under the constraints of obstacles. In order to improve the adaptability, the mobile manipulator is endowed with the ability to update its end point trajectory and adjust its posture according to the current environment. The effectiveness of the method is verified by simulation.

关 键 词：A+算法 移动机械臂 轨迹规划 无碰抓取 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]