基于移动机器人的运动学半物理系统的规划方法  

Motion Planning for Mobile Robots Based Kinematic Hardware-in-the-loop Simulation System

作　　者：刘琛 刘宇 宋立滨[1] 张继文[1] LIU Chen;LIU Yu;SONG Li-bin;ZHANG Ji-wen(Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China;Beijing Institute of Tracking and Telecommunications Technology,Beijing 100094,China)

机构地区：[1]清华大学机械工程系,北京100084 [2]北京跟踪与通信技术研究所,北京100094

出　　处：《宇航学报》2021年第11期1365-1376,共12页Journal of Astronautics

基　　金：摩擦学国家重点实验室资助项目(SKLT2019C08);航天科学技术基金项目;清华大学国强研究院基金项目。

摘　　要：针对基于移动机器人的半物理系统运动精度较差,需要机械臂对移动机器人进行实时精度补偿的问题,提出了一种以超冗余机械臂为规划对象的整体规划方法。该方法将整体系统等效为一个超冗余机械臂,并且根据该超冗余机械臂的自运动特性调整关节构型,使其远离关节极限并且最大化灵活操作能力,为后续的实时补偿控制创造条件。最后将该算法在实际搭建的基于移动机器人的半物理系统上进行了实验,实验结果验证了该算法的必要性和有效性。Aiming at the poor motion accuracy of the mobile-robots-based hardware-in-the-loop simulation system and the need for the real-time motion compensation of the mobile robots by the manipulator,a global planning method is proposed,which takes the super-redundant manipulator as the planning object.This method equates the whole simulation system to a super-redundant manipulator,and then adjusts its joint configuration according to its self-motion,creating conditions for the follow-up real-time compensation control.Finally,a hardware-in-the-loop simulation system is built and the algorithm is verified by the experiments on this system.The experimental results verify the effectiveness and the necessity of the proposed algorithm.

关 键 词：半物理系统 超冗余机械臂 路径规划 逆运动学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]