一种采摘机械手避障运动规划优化算法研究  

Research on Optimization Algorithm of Obstacle Avoidance Motion Planning for Harvesting Manipulator

作　　者：刘小艮 李文彪 LIU Xiao-gen;LI Wen-biao(Guangdong Lingnan Vocational and Technical College,Guangdong Guangzhou 510663,China;Guangzhou Huashang University,Guangdong Guangzhou 511300,China)

机构地区：[1]广东岭南职业技术学院,广东广州510663 [2]广州华商学院,广东广州511300

出　　处：《机械设计与制造》2024年第6期372-378,共7页Machinery Design & Manufacture

基　　金：2019年度广东省普通高校特色创新类项目(2019GWTSCX030)——基于“技研中心”的高职专业群专创融合实践策略研究。

摘　　要：针对六连杆采摘机械手运动规划的实时性,在传统的人工势场(APF)算法中,提出了改进的人工势场(IAPF)优化算法。采用初等变换序列方法对机械手进行运动学建模,该模型可方便地得到机械手上各点相对于基底坐标系的雅可比矩阵,IAPF算法在APF算法原有的引力势场计算模型的基础上,加入了Sigmoid函数,以使得路径规划算法收敛,在斥力势场中引入了反S的Sigmoid函数,防止出现斥力爆炸现象。IAPF算法避免了传统算法的局部最小缺陷(LMT)和目标不可达问题(TNRP),同时有效地减少机械手运动规划的计算时间和关节误差。最后通过实验结果,验证了所提优化算法在采摘机械手避障运动规划中的实时性和准确性。Aiming at the real-time motion planning of the six-link picking manipulator,an improved artificial potential field(IAPF)optimization algorithm is proposed in the traditional artificial potential field(APF)algorithm.The elementary transfor-mation sequence method is used to model the kinematics of the manipulator.This model can easily obtain the Jacobian matrix of each point on the manipulator relative to the base coordinate system.The IAPF algorithm adds the sigmoid function on the basis of the original gravitational potential field calculation model of the APF algorithm to make the path planning algorithm con-verge.The anti S Sigmoid function is introduced into the repulsion potential field to prevent the repulsion explosion.The IAPF al-gorithm avoids the local minimum trap(LMT)and the target unreachable problem(TNRP)f traditional algorithms,and effective-ly reduces the computation time and joint error of robot motion planning.Finally,the experimental results verify the real-time and accuracy of the proposed optimization algorithm in the obstacle avoidance motion planning of the picking manipulator.

关 键 词：采摘机械手 运动规划 人工势场 避障 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.6[自动化与计算机技术—检测技术与自动化装置]