具有双插补避障功能的七关节机械臂控制系统研究  

Research on Control System of Seven-joint Manipulator with Double Interpolation Obstacle Avoidance Function

作　　者：常凤筠[1] 李佳昌 王平江[2] CHANG Fengjun;LI Jiachang;WANG Pingjiang(School of Electronic and Information Engineering,University of Science and Technology Liaoning,Anshan 114051,China;School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,China)

机构地区：[1]辽宁科技大学电子与信息工程学院,辽宁鞍山114051 [2]华中科技大学机械科学与工程学院,湖北武汉430074

出　　处：《控制工程》2023年第10期1834-1845,共12页Control Engineering of China

基　　金：国家科技重大专项项目(2018ZX04035002-002);福建省泉州市高层次人才创新创业项目(2021ZX122)。

摘　　要：具有更多自由度的七关节机械臂在保证末端运动位姿的前提下,可实现更好的避障轨迹设计,但是给控制系统研发带来很大难题。针对此问题,首先从传统的冗余机械臂运动控制算法出发,建立基于梯度投影法的逆运动学方程;然后,针对其不足,结合六关节机械臂的解析解方法,提出了一种新的既可以避免机械臂腕部碰撞,又可以对机械臂上指定点运动位姿进行监测的双插补算法,实现了具有主动避障与碰撞监测的实时运动控制算法。最后,搭建了七关节机械臂和与之配套的软硬件控制平台,开发了实时的三维仿真软件,并通过实验验证了所提算法的正确性与有效性。The seven-joint manipulator,equipped with more degrees of freedom,can achieve better trajectory design for obstacle avoidance while ensuring the desired end-effector posture,but it brings great problems to the development of control system.To solve this problem,the inverse kinematics equation based on gradient projection method is established from the traditional motion control algorithm of redundant manipulator.Then,in view of its limitations,combined with the analytical solution of the six-joint manipulator,a new double interpolation algorithm is proposed,which can not only avoid the wrist collision of the manipulator,but also monitor the motion postures of the specified points on the manipulator.As a result,a real-time motion control algorithm with active obstacle avoidance and collision monitoring is realized.Finally,a seven-joint manipulator along with its supporting hardware and software control platform are constructed,and a real-time threedimensional simulation software is developed.The correctness and effectiveness of the proposed algorithm are verified by experiments.

关 键 词：工业机器人 冗余机械臂 运动学算法 LinuxCNC 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]