A distributed variable density path search and simplification method for industrial manipulators with end-effector's attitude constraints  

作　　者：Jin WANG Shengjie LI Haiyun ZHANG Guodong LU Yichang FENG Peng WANG Jituo LI 

机构地区：[1]State Key Laboratory of Fluid Power and Mechatronic Systems,School of Mechanical Engineering.Zhejiang University,Hangzhou 310027,China [2]Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province,School of Mechanical Engineering,Zhejiang University,Hangzhou 310027,China [3]School of Robotics,Ningbo University of Technology,Ningbo 31521l,China

出　　处：《Frontiers of Information Technology & Electronic Engineering》2023年第4期536-552,共17页信息与电子工程前沿（英文版）

基　　金：Project supported by the Key R&D Program of Zhejiang Province,China(Nos.2020C01025 and 2020C01026);the National Natura Science Foundation of China(No.52175032);the"Pioneer"and"Leading Goose"R & DProgram of Zhejiang Province,China(No.2022C01054);the Robotics Institute of Zhejiang University(Nos.K12107 and K11808)。

摘　　要：In many robot operation scenarios, the end-effector's attitude constraints of movement are indispensable for the task process, such as robotic welding, spraying, handling, and stacking. Meanwhile, the inverse kinematics, collision detection, and space search are involved in the path planning procedure under attitude constraints, making it difficult to achieve satisfactory efficiency and effectiveness in practice. To address these problems, we propose a distributed variable density path planning method with attitude constraints(DVDP-AC) for industrial robots. First, a position – attitude constraints reconstruction(PACR) approach is proposed in the inverse kinematic solution. Then, the distributed signed-distance-field(DSDF) model with single-step safety sphere(SSS) is designed to improve the efficiency of collision detection. Based on this, the variable density path search method is adopted in the Cartesian space. Furthermore, a novel forward sequential path simplification(FSPS) approach is proposed to adaptively eliminate redundant path points considering path accessibility. Finally, experimental results verify the performance and effectiveness of the proposed DVDP-AC method under end-effector's attitude constraints, and its characteristics and advantages are demonstrated by comparison with current mainstream path planning methods.

关 键 词：Path planning Industrial robots Distributed signed-distance-field Attitude constraints Path simplification 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]