基于随机采样的多段柔性机械臂路径规划  

Path Planning of Multi-segment Flexible Manipulator Based on Random Sampling

作　　者：肖权 郭斌 向国菲[1] 马丛俊 廖亮 佃松宜[1] XIAO Quan;GUO Bin;XIANG Guo-fei;MA Cong-jun;LIAO Liang;DIAN Song-yi(College of Electrical Engineering,Sichuan University,Chengdu 610065,China)

机构地区：[1]四川大学电气工程学院,成都610065

出　　处：《组合机床与自动化加工技术》2023年第3期28-34,共7页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家重点研发计划(2018YFB1307401)。

摘　　要：针对多段柔性臂避障路径规划存在的末端位姿约束求解困难、定位精度低、解空间小和计算复杂等诸多难题,提出了面对非结构化环境下基于随机采样的多段柔性机械臂路径规划方法。首先,基于柔性臂几何分析建立操作空间(W空间)与构型空间(C空间)两者之间的运动学模型;然后,基于W空间随机采样的方法,采用头-尾逆序规划,保证了末端位姿的定位精度,同时加入基座的局部冗余性扩大求解空间;进一步,加入贪婪启发和可达引导策略,制定以路径成本为目标的路径评价函数,确定避碰最优路径;最后,在CoppeliaSim仿真平台搭建具有物理属性的多段柔性臂仿真模型和实物样机,并在狭窄环境中利用头部跟随算法求出控制量,实现对所规划路径的跟踪。仿真结果表明了路径规划算法的末端位姿准确性及算法求解的快速性,实验结果显示实际末端轨迹与规划轨迹位置重合度高,验证了所提算法的合理性与有效性。Aiming at the difficulties in solving the end pose constraints,low positioning accuracy,small solution space,and complicated calculation in the obstacle avoidance path planning of multi-segment flexible manipulator,this paper proposes a planning method of multi-segment flexible manipulator path based on random sampling in unstructured environment.Firstly,the kinematic model between the operation space(W space)and the configuration space(C space)is established based on the geometric analysis of the flexible manipulator;Then,based on the random sampling method of the W space,the head-tail reverse order planning is adopted to ensure that the positioning accuracy of the end pose,and the local redundancy of the base is added to expand the solution space;Further,the greedy heuristic and reachable guidance strategies are added to formulate the path evaluation function with the path cost as the goal,and the optimal path for collision avoidance is determined;Finally,build a multi-segment flexible manipulator simulation model and a physical prototype with physical properties on the CoppeliaSim simulation platform,and use the head following algorithm to obtain the control amount in a narrow environment to achieve the tracking of the planned path.The simulation results show the accuracy of the end pose of the path planning algorithm and the high rapidity of the algorithm solution.The experimental results show that the actual endpoint trajectory and the planned trajectory have a high degree of coincidence,which verifies the rationality and effectiveness of the proposed algorithm.

关 键 词：柔性机械臂 非结构化环境 随机采样 CoppeliaSim 路径规划 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]