力矩优化的扩展雅可比方法机械手避障研究  

The Research on Obstacle Avoidance of Manipulator Based on Extended Jacobian Method with Torque Optimization

作　　者：彭芳 黎萍 吴泽帆 刘春铭 

机构地区：[1]电子科技大学中山学院机电工程学院,广东中山528402

出　　处：《组合机床与自动化加工技术》2018年第1期30-34,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：广东省公益研究与能力建设专项(2016A020220003);广东省高校优秀青年创新人才培养计划资助项目(2013LYM0103;416YQC01);中山市科技计划项目(2016B2149;2014A2FC272)

摘　　要：利用扩展雅克比矩阵方法,在逆运动学中引入自运动向量,采用具有能量优化与避障约束的标量函数设计自运动向量,规划避障次级任务;为了减小机械手关节驱动器实际输出的峰值力矩,避免过大峰值力矩导致的转矩饱和,提出力矩峰值减小优化算法,该方法采用局部优化策略,使用当前转矩及给定约束优化下一状态转矩。通过平面3连杆机械手的仿真结果表明,机械手在笛卡尔空间完成轨迹跟踪主任务的同时,能有效避开障碍物,减小输出力矩峰值。Obstacle avoidance control of manipulator has to carry out a trajectory tracking in the cartesian space while planning the position of the manipulator joint space without collision under the given constraints.For this purpose,extended jacobian matrix method is used. The self-motion vector is introduced in the inverse kinematics to plan obstacle avoidance as the secondary task. The self-motion vector is computed from the scalar function of energy optimization and obstacle avoidance constraints. In order to reduce the peak torque of manipulator joints actual output,avoid the torque saturation caused by excessive peak torque,the peak torque reduction optimization algorithm is introduced. This method uses the local optimization strategy which uses the current torque and torque constraints to optimize the torque of the following station. The simulation of planar 3 link manipulator shows the manipulator can accomplish the trajectory tracking main task in cartesian space,avoid obstacles effectively and reduce the peak torque of output.

关 键 词：机械手 避障控制 力矩优化 扩展雅克比方法 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]