基于虚拟工作空间约束的AUVMS协调运动规划  

Coordinated Motion Planning Based on Virtual Workspace Constraints for AUVMS

作　　者：于福杰 陈原[1] 李庆中 YU Fujie;CHEN Yuan;LI Qingzhong(School of Mechanical,Electrical&Information Engineering,Shandong University,Weihai,Weihai 264209)

机构地区：[1]山东大学(威海)机电与信息工程学院,威海264209

出　　处：《机械工程学报》2020年第12期249-264,共16页Journal of Mechanical Engineering

基　　金：国家自然科学基金(51375264);山东省重大创新工程(2017CXGC0923);山东省重点研发计划(2018GGX103025);山东省自然科学基金(ZR2019MEE019);中央高校基本科研业务费专项资金(2019ZRJC006)资助项目。

摘　　要：为避免自治型水下机器人-机械手系统(Autonomous underwater vehicle-manipulator system,AUVMS)的机械臂完全伸展引起振动冲击,提出一种基于虚拟工作空间约束的AUVMS协调运动规划方法。利用机械臂灵活工作空间的子集组成的虚拟工作空间对机械臂的运动范围进行约束,通过软关节角运动范围处理运载器和机械臂之间的运动干涉,采用基于凸包射线检测算法判断机械手末端与虚拟工作空间之间的位置关系;推导AUVMS不同自运动状态所对应的运载器命令速度,实现虚拟工作空间内机械臂尽可能少的移动目标。仿真与试验结果表明,基于虚拟工作空间约束的AUVMS协调运动规划方法解决了机械臂出现完全伸展的问题,其轨迹跟踪精度相比加权最小范数法有着明显提高,位置误差保持在±0.04m内,姿态误差保持在±3°内。In order to avoid the vibration shock caused by the full extension of the manipulator of autonomous underwater vehicle-manipulator system(AUVMS),a coordinated motion planning method based on virtual workspace constraints is proposed.A certain subset of the flexible workspace of the manipulator is selected as the virtual workspace in order to constraint the motion of the end effector.The soft joint limits is used to avoid self-interference,and the positional relationship between the end effector and the virtual workspace is determined by ray detection algorithm based on convex hull.The vehicle command velocity corresponding to the different self-movement states of AUVMS is deduced,so as to move the vehicle as little as possible.The results show that the proposed method not only solves the problem of the fully extended of the manipulator,but makes the tracking accuracy improved compared to the weighted minimum norm method.The position error is within±0.04 m,and the orientation error is within±3°.

关 键 词：水下机器人-机械手系统 协调控制 灵活工作空间 运动约束 干涉 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]