冗余机械手的灵活性优化及避障预警系统  

Flexibility Optimization and Obstacle Avoidance Warning System for Redundant Manipulator

作　　者：马文静 朱海荣 胡志刚 张彤晓 MA Wen-jing;ZHU Hai-rong;HU Zhi-gang;ZHANG Tong-xiao(College Mechanical and Electrical Engineering,Jiangsu College of Engineering and Technology,Jiangsu Nantong 226007,China;College of Information and Control Engineering,China School of Mining and Technology,Jiangsu Xu-zhou 221008,China)

机构地区：[1]江苏工程职业技术学院机电工程学院,江苏南通226007 [2]中国矿业大学信息与控制工程学院,江苏徐州221008

出　　处：《机械设计与制造》2022年第12期273-277,281,共6页Machinery Design & Manufacture

基　　金：江苏省高校青蓝工程项目(苏教师函[2021]11号,苏教师函[2020]10号,苏教师函[2019]3号);南通市基础科学研究项目(JC2020154);2019年江苏省高等教育教改研究立项课题(2019JSJG536)“1+X证书制度”背景下加强技术应用能力的专业课程内容改革研究。

摘　　要：提出了灵活性椭圆的概念来选择出冗余机械手最灵活的姿势,使其应对动态的路径和障碍物分布环境,完成在线路径追踪及避障任务。另外,采用了探索控制,其核心思想是利用一个仅体现在计算机程序代码中的假想机械手,领先实际机械手固定的时间身位,假想机械手提前探索到未来的环境信息,同时依靠单步遗传算法在线地计算出其最灵活的姿势作为姿势最优解,身后的实际机械手逐步向假想机械手的最佳姿势过渡。除此之外,还增设了在线避障预警控制系统,当检测出未来可能发生碰撞时,立即发出危险警报,同时制动实际机械手,最大程度地确保了系统的安全性。最后,平面内四关节机械手的仿真结果验证了在线路径追踪及避障预警控制系统的有效性。The concept of flexibility ellipsoid is proposed to select the most flexible posture of redundant manipulator to deal with the dynamic path and obstacle distribution environment,and to accomplish the on-line path tracking and obstacle avoidance tasks. And exploration control method is adopted. Its core control idea is to use an imaginary manipulator that exists only in the program code and is always fixed time position ahead of the actual manipulator. This imaginary manipulator explores the future environment information in advance,the 1-step genetic algorithm is used to calculate the most flexible posture in real time as the optimal posture. And the actual manipulator is guided by the imaginary manipulator to realize the transition to the optimal posture. In addition,an on-line obstacle avoidance warning control system is added. When the possible collision is detected,the danger warning is issued immediately and the actual manipulator is braked to ensure the safety of the system to the greatest extent. Finally,the simulation results of the four-joint manipulator verify the effectiveness of the on-line path tracking and obstacle avoidance warning control system.

关 键 词：冗余机械手 路径追踪 灵活性椭圆 探索控制 单步遗传算法 避障预警 

分 类 号：TH16[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]