冗余机械臂的加权广义逆避障算法研究  

A Weighted Generalized Inverse Obstacle Avoidance Algorithm for Redundant Manipulator

作　　者：曹海蕊 顾晓勤[1,2] 梁瑞仕 Cao Hairui;Gu Xiaoqin;Liang Ruishi(School of Mechatronics Engineering,University of Electronic Science and Technology of China,Chengdu 611731,China;School of Mechanical and Electrical Engineering,University of Electronic Science and Technology of China, Zhongshan Institute,Guangdong Zhongshan 528402,China)

机构地区：[1]电子科技大学机械电子工程学院,成都611731 [2]电子科技大学中山学院机电工程学院,广东中山528402

出　　处：《机械科学与技术》2018年第9期1313-1318,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(61300095)资助

摘　　要：针对冗余机械臂末端轨迹跟踪与避障运动冲突的情况,提出一种基于加权广义逆的避障方法。该方法对机械臂与障碍物之间危险程度评估的评价函数-危险场进行改进,将危险程度评估得到的危险场的值,反馈给修改后的冗余机械臂闭环逆运动学算法,以实现避障,同时对雅可比矩阵和梯度项加权处理来避关节极限。为保证避障效率,对闭环控制参数进行优化设计。根据危险场的值与预先设定的阈值之间的大小关系,机械臂在避障过程中具有任务中断和恢复能力。最后利用Robotics Toolbox for MATLAB工具箱进行数值仿真,验证提出方法的有效性。To resolve the conflict between the end trajectory tracking and the obstacle avoidance of a redundant manipulator,a weighted generalized inverse obstacle avoidance algorithm was presented.Its evaluation function called danger field was improved.By weighting the Jacobian matrix and gradient and feeding back the value of the danger field to an improved closed-loop inverse kinematics(CLIK)algorithm,the obstacle avoidance algorithm can avoid joint limits and obstacles.In order to enhance avoidance efficiency,the closed-loop control parameter was designed.In the process of obstacle avoidance,the manipulator can,in advance,cope with task suspension and resumption according to the relationship between value of danger field and threshold set.The numerical simulations results prove that the proposed algorithm is effective by means of Robotics Toolbox for MATLAB.

关 键 词：冗余机械臂 危险场 加权最小范数解 避障 避关节极限 

分 类 号：O311.2[理学—一般力学与力学基础]