基于碰撞反馈的冗余机器人避障规划算法  

Obstacle avoidance algorithm for redundant robots based on collision feedback

作　　者：李亚昕 王国磊[1] 张剑辉 田鑫亮 安静 陈恳[1] LI Yaxin;WANG Guolei;ZHANG Jianhui;TIAN Xinliang;AN Jing;CHEN Ken(Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China;School of Technology,Beijing Forestry University,Beijing 100084,China;Avic Xi'an Aircraft Industry Group Company Ltd,Xi'an 710089,China)

机构地区：[1]清华大学机械工程系,北京100084 [2]北京林业大学工学院,北京100084 [3]航空工业西安飞机工业(集团)有限责任公司,西安710089

出　　处：《清华大学学报（自然科学版）》2022年第3期408-415,共8页Journal of Tsinghua University(Science and Technology)

基　　金：国家自然科学基金资助项目(61403226,51975308);工信部民机科研专项(MJ-2018-G-54)。

摘　　要：针对复杂封闭类管道零件喷涂过程中避障的需求,该文提出了一种基于碰撞反馈的冗余机械臂避障算法,该算法利用投影相交法进行碰撞检测,将碰撞类型分为可规避碰撞及不可规避碰撞两类:针对可规避碰撞,提出了关节权值动态调整算法,通过加强对碰撞关节的运动限制,同时放宽对其他关节的约束,实现自运动优化避障;针对不可规避碰撞,提出了基于"杠杆原理"的调整方法,通过调整目标点的姿态实现避障。最后,通过设计关节加速度的优化函数对轨迹进行优化以减少机器人的冲击惯性。通过仿真实验,验证了上述算法的可行性。Robots for spraying in complex enclosed pipeline parts need effective obstacle avoidance capabilities. An obstacle avoidance algorithm was developed based on collision detection feedback for a redundant manipulator. The projection intersection method was used to detect a collision with the collision types divided into avoidable and unavoidable collisions. A dynamic adjustment algorithm using joint-weights was developed for avoidable collisions to restrict the collision joints while relaxing the restrictions on the other joints to optimize the motion for obstacle avoidance. For unavoidable collisions, the “lever principle” was used to adjust the obstacle avoidance by adjusting the normal direction to the target point. Finally, the joint acceleration was optimized to modify the trajectory and reduce the inertial impact of the robot. Simulations verify the feasibility of this algorithm.

关 键 词：冗余机械臂 自运动 梯度投影法 避障 喷涂工艺 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]