约束空间工业机器人姿态搜索及避障研究  

Research on Attitude Search and Obstacle Avoidance of Industrial Robots in Constrained Space

作　　者：赵海文[1] 罗元铭 张雅丽[1] 赵悦焜 杨冬[1] 胡宁 ZHAO Haiwen;LUO Yuanming;ZHANG Yali;ZHAO Yuekun;YANG Dong;HU Ning(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China;State Key Laboratory of Reliability and Intelligence of Electrical Equipment,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 [2]河北工业大学电工装备可靠性与智能化国家重点实验室,天津300401

出　　处：《组合机床与自动化加工技术》2024年第5期77-81,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(12227801);国家科技重大专项项目(2017-VII-0011-0106);河北省自然科学基金创新群体研究项目(A2020202002);河北省重点研发计划项目(202030507040009);天津市自然科学基金重点项目(S20ZDF077);天津市科技计划项目(20ZYJDJC00030);重庆市自然科学基金项目(cstc2021jcyj-msxmX0241,cstc2021jcyj-msxm0525);新疆兵团区域创新引导计划项目(2022BB004);河北省军民融合科技创新项目(SJMYF2022X15)。

摘　　要：为解决约束空间下机器人无碰撞目标姿态求解问题,提出一种机器人姿态快速搜索算法,并结合4种不同的路径规划算法实现工业机器人的多目标路径规划。首先,对机器人运动框架初步配置完成后,通过计算位姿矩阵得到了场景内物体坐标的动态相对关系,并在ROS中搭建规划场景;其次,提出一种基于模型和机器人逆解的机器人姿态快速搜索算法RFP,并在RoboDK中对其进行验证,验证结果表明该算法有效;最后,根据任务需求设计了路径规划流程并引入二次规划减少算法随机性的影响,提高规划成功率,应用了RRT等算法进行对比分析,仿真结果表明RRT-connect算法的规划速度与成功率高于其它算法,为样机的实现奠定了基础。In order to solve the problem of collision-free robot attitude in constrained space,a fast robot attitude search algorithm is proposed,and four different path planning algorithms are combined to realize multi-objective path planning of industrial robots.First,after completing the preliminary configuration of the robot motion frame,the dynamic relative relationship of object coordinates in the scene was obtained by calculating the pose matrix,and the planning scene was built in ROS.A fast robot pose search algorithm RFP based on model and robot inverse solution is proposed and verified in RoboDK.The verification results show that the algorithm is effective.According to the task requirements,the path planning process is designed and quadratic planning is introduced to reduce the influence of algorithm randomness and improve the planning success rate.The simulation results show that the planning speed and success rate of RT-connect algorithm are higher than other algorithms.The simulation study lays a foundation for the realization of the prototype.

关 键 词：工业机器人 路径规划 避障 约束空间 姿态搜索 ROS 

分 类 号：TH166[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]