基于碰撞检测的双机械臂避障路径规划  

Obstacle Avoidance Path Planning of Double Manipulator Based on Collision Detection

作　　者：刁慧 陈桂[1] 曹飞虎 马俊哲 DIAO Hui;CHEN Gui;CAO Feihu;MA Junzhe(School of Automation,Nanjing Institute of Technology,Nanjing Jiangsu 211167,China)

机构地区：[1]南京工程学院自动化学院,江苏南京211167

出　　处：《机床与液压》2024年第15期43-49,共7页Machine Tool & Hydraulics

基　　金：大学生科技创新基金项目(TB202317017)。

摘　　要：针对协同作业的双机械臂系统,提出一种不依赖于外部传感器和无需动力学建模的实时避障路径规划方法。基于运动学和混合包围盒法简化机械臂模型与障碍物,经投影相交法快速判断干涉的可能性,将碰撞检测转化为求解最短距离,再结合速度场以及添加虚拟约束点和考虑障碍物边界来改进传统人工势场法。最后,通过MATLAB-CoppeliaSim联合仿真验证包含静态和动态障碍物的碰撞检测算法。结果表明:该碰撞检测算法适应动、静两种复杂障碍物环境,通用性较高,生成的避障路径能够跳出极小值和实现目标可达,有效保障人机交互及设备的安全性。Aiming at the double manipulator system for cooperative operation,a real-time obstacle avoidance path planning method that does not rely on external sensors and does not require dynamic modeling was proposed.Based on kinematics and hybrid bounding box method,the manipulator model and obstacles were simplified,the possibility of interference was quickly judged by the projection intersection method,and the collision detection was transformed into the shortest distance solution,and the traditional artificial potential field method was improved by combining the velocity field,adding virtual constraint points and considering the obstacle boundary.Finally,the static and dynamic obstacle collision detection algorithms were verified by MATLAB-CoppeliaSim co-simulation.The results show that the collision detection algorithm can adapt to dynamic and static complex obstacle environments,and has high universality.The generated obstacle avoidance path can jump out of the minimum value and achieve the target reachable,effectively guaranteeing the human-computer interaction and equipment safety.

关 键 词：双机械臂 碰撞检测算法 改进人工势场法 避障路径规划 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]