基于等效杆件法的超冗余机器人规划仿真研究  

Research on Path Planning and Simulation of Hyper-Redundant Manipulators Based on Equivalent Links Method

作　　者：王伟霖 王成疆 贾利慧 张鲁杨 刘力源 李玉胜[1] 牟宗高 WANG Weilin;WANG Chengjiang;JIA Lihui;ZHANG Luyang;LIU Liyuan;LI Yusheng;MU Zonggao(School of Mechanical Engineering,Shandong University of Technology,Zibo 255000,China;The Smartech Institute,Shenzhen 518055,China;School of Mechanical Engineering and Automation,Harbin Institute of Technology,Shenzhen 518055,China)

机构地区：[1]山东理工大学机械工程学院,山东淄博255000 [2]深圳市先进智能技术研究所,广东深圳518055 [3]哈尔滨工业大学(深圳)机电工程与自动化学院,广东深圳518055

出　　处：《聊城大学学报（自然科学版）》2022年第2期7-13,共7页Journal of Liaocheng University:Natural Science Edition

基　　金：国家自然科学基金项目(61903100);深圳战略新兴和未来产业发展资金(ZLZBCXLJZI20160805020017);2021年度大学生创新创业训练计划(202110433088);2020年度大学生创新创业训练计划(S202010433029;X202010433008X);教育部产学合作协同育人项目(202002212025);深圳市基础研究专项(JCYJ20190806142818365)资助。

摘　　要：具有运动灵巧等特性的超冗余机器人适宜在限制性环境开展作业,近年来受到广泛的关注。然而,由于大量自由度的存在,也使其逆运动学变得非常复杂。为了提高超冗余机器人在多障碍环境开展避障任务的能力,本文提出了等效杆件法求解超冗余机器人的逆运动学及避障轨迹规划问题。该方法根据回避工作空间内障碍物的特点,将超冗余的机器人逐次等效为低冗余或非冗余的机器人,将等效机器人与障碍物的位置关系作为避障判据,从而降低了避障规划的求解复杂度、提高了避障规划的效率。为了验证方法的有效性,基于Webots实现了对超冗余机器人和环境的建模,并实现编程控制和仿真。仿真结果证明了所提出的等效杆件法对超冗余机器人回避工作空间内障碍物的有效性。Hyper-redundant manipulators have the characteristics of dexterous movement,and they are suitable for carrying out tasks in restrictive environment with many obstacles.In recent years,they have received extensive attention.However,due to the existence of a large number of degrees of freedom,their inverse kinematics have become very complicated.In order to improve the ability of hyper-redundant manipulator to carry out obstacle avoidance tasks in a multi-obstacle environment,the equivalent links method is proposed to solve the inverse kinematics and obstacle avoidance trajectory planning of the hyper-redundant manipulator in this paper.According to the characteristics of avoiding obstacles in the working space,this method successively equates hyper-redundant manipulators to low-redundant or non-redundant manipulators.The position relationship between the equivalent links and the obstacle is used as the obstacle avoidance criterion,thereby reducing the complexity of solving obstacle avoidance planning and improving the efficiency of obstacle avoidance planning.In order to verify the effectiveness of the proposed method,the models of the hyper-redundant manipulator and environment are realized based on Webots,and the programming control and simulation are realized.The simulation results prove the effectiveness of the proposed equivalent links method for hyper-redundant manipulators to avoid obstacles in the work space.

关 键 词：超冗余机器人 避障规划 障碍物 等效杆件法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]