基于改进梯度投影算法的移动机械臂轨迹规划研究  

Research on Trajectory Planning of Mobile Manipulator Based on Improved Gradient Projection Algorithm

作　　者：魏丽君 吴海波[2] 刘海龙[2] WEI Li-jun;WU Hai-bo;LIU Hai-long(College of Infonnation Science and Engineering,Central South University,Changsha 410001,China;Hunan Railway Professional Technology College,Zhuzhou 412001,China)

机构地区：[1]中南大学信息科学与工程学院,湖南长沙410001 [2]湖南铁道职业技术学院,湖南株洲412001

出　　处：《测控技术》2022年第5期16-22,65,共8页Measurement & Control Technology

基　　金：湖南省教育厅科学研究优秀青年项目(19B379)。

摘　　要：移动机械臂由移动平台和机械臂构成,是一种典型的冗余机械臂系统。其运动学和轨迹规划问题是研究热点。梯度投影法是求解该问题的一类常用算法,其应用难点主要集中在比例因子的选取上。极值法通过最优化方法求解比例因子,将比例因子作为目标函数,并基于关节速度极限、可优化度等设计约束条件。针对极值法存在使关节加速度超限的问题,提出一种考虑关节加速度约束的新算法,并通过仿真对比验证该算法的有效性。Mobile manipulator is a typical redundant manipulator system,which is composed of mobile platform and manipulator.Its kinematics and trajectory planning problem are research hotspots.Gradient projection algorithm is a common algorithm to solve this problem,and its application difficulty mainly focuses on the selection of scale factor.The extremum method solves proportional factor through the optimization methods,takes the scale factor as the objective function,and designs the constraints based on the joint speed limit,the degree of optimization and so on.Aiming at the problem of exceeding the limit of joint acceleration in the extreme value method,a new algorithm considering the joint acceleration constraint is proposed to solve the problem that the extremum method may cause the joint acceleration to exceed the limit.The effectiveness of the algorithm is verified by simulation.

关 键 词：改进梯度投影算法 移动机械臂 冗余自由度 轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]