高冗余类人双臂移动机器人运动规划  

Motion planning of high redundant humanoid dual-arm mobile robot

作　　者：王红星 李瑞峰[1] 葛连正[1] 曹雏清[3,4] Wang Hongxing;Li Ruifeng;Ge Lianzheng;Cao Chuqing(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China;School of Mechanical ＆ Electrical Engineering,Nanchang Institute of Technology,Nanchang 330099,China;SchoolofMechanicalEngineering,Nanjing University of Science and Technology,Nanjing210094,China;HIT Wuhu Robot Technology Research Institute of Harbin Institute of Technology,Wuhu 241007,Anhui China)

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080 [2]南昌工程学院机械与电气工程学院,江西南昌330099 [3]南京理工大学机械工程学院,江苏南京210094 [4]哈尔滨工业大学芜湖哈特机器人产业技术研究院,安徽芜湖241007

出　　处：《华中科技大学学报（自然科学版）》2018年第8期12-17,共6页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(61673136,61763032);哈尔滨工业大学机器人技术与系统国家重点实验室自主课题资助项目(SKLRS201609B);江西省科技厅科技计划资助项目(20161BBH80040)

摘　　要：将差速移动平台和固定类人双臂机器人组合成高冗余类人双臂移动机器人,针对该机器人高冗余、类人双臂和移动的特点提出一种整体性分解运动速度控制算法（w RMRCA）进行运动规划,将双臂末端执行点运动分解为该机器人移动平台左右轮和类人双臂各个关节的协调运动.通过对单双臂移动机器人仿真比较表明：类人双臂移动机器人具有更多的冗余,更好的平滑性和灵活性,更大的操作空间;在整个移动操作过程中差速移动平台和双臂之间有更好的协调操作特性,拥有更大工作空间.该算法在高冗余机器人系统中运动规划的有效性得到了验证.A high redundant humanoid dual-arm mobile robot was built through the differential driver platform and the fixed dual-arm robot.Then,according to the characteristics of the high redundancy,the whole Resolved Motion Rate Control Algorithm（w RMRC） was offered for the motion planning.The end-effect or movements of the humanoid dual arms can be decomposed into the movements of the two driving wheels of the differential driving platform and the movements of the humanoid dual-arm each joint of this robot harmoniously.Through the comparison of the simulation results,the humanoid dual-arm mobile robot has more redundancy,better smoothness,more flexibility,larger operational space,and more harmonious cooperation between the humanoiddualarms and the differential driving platform during the entire mobile operational process. The effectiveness of the algorithm in the high-redundant robot system has been verified.

关 键 词：高冗余类人双臂移动机器人 整体性分解运动速度算法 移动操作 运动规划 控制算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]