冗余度双臂机器人协作策略下实时避障算法  

Real-time Obstacle Avoidance Algorithm for Coordinated Strategy of Redundant Dual-arm Robots

作　　者：李铁军[1] 刘力源 刘今越[1] 贾晓辉[1] 武毅 LI Tiejun;LIU Liyuan;LIU Jinyue;JIA Xiaohui;WU Yi(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China)

机构地区：[1]河北工业大学机械工程学院,天津300401

出　　处：《机械科学与技术》2023年第11期1821-1828,共8页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(U1813222,U20A20283);国家重点研发计划项目(2019YFB1312103)。

摘　　要：针对冗余度双臂机器人协调操作过程中机械臂本体避障及躲避环境障碍问题,提出了基于冗余机械臂自运动特性的双臂机器人协作策略下实时避障算法。首先,利用障碍物在机械臂连杆上的投影矢量筛选掉不会避碰杆件,再计算可能避碰杆件与障碍物的最短距离;其次,根据双臂协作的运动学约束关系,得到冗余度双臂机器人协调搬运避障的运动学逆解;再次,引入梯度“安全距离”和两个避障因子,实时改变机械臂的避障速度,使机器人末端完成协作任务以及双臂实时自避碰及躲避环境障碍物的任务;最后,利用冗余度双臂机器人进行仿真及实验。结果表明:双臂机器人末端执行器执行协作任务的同时机器人双臂可以躲避障碍物,且各关节运动连续、平稳。Aiming at the coordinated self-avoidance and avoiding environmental obstacles by redundant dual-arm robots,a real-time obstacle avoidance algorithm based on the self-motion characteristics of redundant manipulators is proposed.Firstly,the projection vector of the obstacle on the manipulator link is used to screen out the non-collision avoidance bar,and then the shortest distance between the possible collision avoidance rod and the obstacle is calculated.Then,according to the kinematic constraint relationship of dual arm cooperation,the inverse kinematics solution of the coordinated handling and obstacle avoidance of redundant dual arm robot is obtained.Then the gradient"safe distance"and two obstacle avoidance factors are introduced,to change the obstacle avoidance speed of the manipulator in real time,the robot terminal can complete the cooperative task and the task of real-time selfcollision avoidance and avoidance of environmental obstacles.The results show that both arms of the robot can avoid obstacles while the end effector of the dual arm robot performs cooperative tasks,and each joint moves continuously and smoothly.

关 键 词：冗余度双臂机器人 协调操作 实时避障 自运动 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]