基于改进速度向量场的机械臂避碰方法研究  

Research on collision avoidance method of manipulator based on improved velocity vector field

作　　者：姜明壮 吴绍锋[1] 李东波[1] Jiang Mingzhuang;Wu Shaofeng;Li Dongbo(School of Mechanical Engineering,Nanjing University of Science and Technology,Jiangsu Nanjing,210094,China)

机构地区：[1]南京理工大学机械工程学院

出　　处：《机械设计与制造工程》2019年第12期38-42,共5页Machine Design and Manufacturing Engineering

摘　　要：针对机械臂工作中的避碰问题,在深入研究人工势场法的基础上,提出了基于人工势场法的速度向量场方法,在保留吸引速度向量和排斥速度向量的前提下,引入环绕速度向量,解决了局部最小问题,使得机器人成功、迅速地绕开障碍物,到达目标点。在此前提下,将速度向量场的比例排斥律改进为指数排斥律,使得机械臂以一条无碰轨迹平稳地从起始位置到达目标位置。仿真结果表明,基于人工势场法的改进速度向量场法能有效地实现机械臂的避碰轨迹规划。Manipulator can easily collide with all kinds of obstacles when working,which affects its normal operation and service life.To solve the above problems,an improved velocity vector field method based on artificial potential field method is proposed.On the basis of traditional attraction velocity vector and repulsive velocity vector,the surround velocity vector is introduced to solve the local minimum problem.Under this premise,the proportional repulsive law of velocity vector field is improved to the exponential repulsive law,so that the manipulator can reach the target position smoothly from the starting position with a non-collision trajectory.The simulation results show that the improved velocity vector field method based on the artificial potential field method can effectively realize the collision avoidance trajectory planning of the manipulator.

关 键 词：机械臂 速度向量场 避碰算法 轨迹规划 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]