动态环境下六自由度机械臂在线运动规划算法  

Online Motion Planning Algorithm for 6-DOF Manipulator in Dynamic Environment

作　　者：柴铜 庄春刚[1] 张波[1] Chai Tong;Zhuang Chungang;Zhang Bo

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《机械制造》2021年第2期7-11,16,共6页Machinery

摘　　要：为满足实时性和安全性的要求,提出了一种动态环境下六自由度机械臂在线运动规划算法。应用这一算法,在运动规划过程中可以兼顾机器人的避障和轨迹的平稳性。针对运动规划过程中出现的轨迹抖动问题,构建了基于自适应权重的优化问题模型。基于UR10机器人平台进行仿真验证,确认所提出的动态环境下六自由度机械臂在线运动规划算法的有效性与优越性。In order to meet the requirements of real time and safety,an online motion planning algorithm for the 6 DOF manipulator in the dynamic environment was proposed.By applying this algorithm,the obstacle avoidance of the robot and the stability of the trajectory can be considered in the process of motion planning.Aiming at the trajectory whipping problem in the process of motion planning,an optimization problem model based on self adapting weights was constructed.Simulation verification based on the UR10 robot platform confirms the effectiveness and superiority of the proposed online motion planning algorithm for the 6 DOF manipulator in the dynamic environment.

关 键 词：机械臂 运动 规划 

分 类 号：TH6[机械工程—机械制造及自动化] TP241.2[自动化与计算机技术—检测技术与自动化装置]