基于RRT^(*)的弹药装填双机器人路径规划  

Path Planning of Dual Ammunition Loading Robot Based on RRT^(*)

作　　者：董祺成 徐志刚[2,3] 王军义[2,3] 杨明毅[2,3] 位亚强 张家川 DONG Qicheng;XU Zhigang;WANG Junyi;YANG Mingyi;WEI Yaqiang;ZHANG Jiachuan(School of Mechatronics Engineering,Shenyang Aerospace University,Shenyang 110136,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China)

机构地区：[1]沈阳航空航天大学机电工程学院,沈阳110136 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [3]中国科学院机器人与智能制造创新研究院,沈阳110169 [4]中国科学院大学,北京100049

出　　处：《组合机床与自动化加工技术》2023年第6期39-43,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：中国科学院青年创新促进会资助项目(2021203)。

摘　　要：针对当前双机器人路径规划复杂的问题,提出了基于RRT^(*)(rapidly-exploring random trees,RRT^(*))算法的弹药装填双机器人路径规划方法。首先,建立双机器人运动学模型并对其工作空间进行分析,确定了双机器人运动过程中发生干涉的可能性;其次,采用RRT^(*)算法,以主机器人末端执行器的路径为障碍物,对从机器人末端路径进行规划,得到从机器人初始路径后,利用碰撞检测算法对路径节点处机器人实际构型进行碰撞检测,反复迭代直至规划出无碰撞机器人路径。最后进行仿真实验,相对于传统RRT^(*)算法,规划出的路径长度缩短,双机器人可以进行无碰撞运动。结果表明本文所提出的双机器人路径规划算法的有效性。Aiming at the complicated problem of path planning of dual robots at present,a path planning method of dual robots for ammunition loading is proposed based on rapidly-exploring random trees(RRT^(*))algorithm.Firstly,the kinematic model of the double robot is established and its workspace is analyzed to determine the possibility of collision during the motion of the double robot.Secondly,the RRT^(*)algorithm was used to plan the end path of the slave robot with the path of the end-effector of the master robot as the obstacle.After the initial path of the slave robot was obtained,the collision detection algorithm was used to detect the actual configuration of the robot at the path node,and the collision free path of the robot was planned through repeated iterations.Finally,simulation experiments are carried out.Compared with the traditional RRT^(*)algorithm,the planned path length is shortened,and the dual robots can carry out collision-free motion.The results show the effectiveness of the proposed path planning algorithm for dual robots.

关 键 词：RRT^(*)算法 双机器人 路径规划 药块装填 

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]