空间双臂机器人漂浮基座扰动最小化轨迹规划  

Trajectory Planning for Minimizing Floating Base Disturbance of Spatial Dual-Arm Robots

作　　者：张辉[1] 左孝中 张伟[2] 高升 ZHANG Hui;ZUO Xiaozhong;ZHANG Wei;GAO Sheng(College of Electrical and Control Engineering Shenyang Jianzhu University,Shenyang 110000 China;State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences,Shenyang 110000 China;China-Portugal Belt and Road Joint Laboratory on Space&Sea Technology Advanced Research,Shanghai 200000 China)

机构地区：[1]沈阳建筑大学电气与控制工程学院,沈阳110000 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110000 [3]中国-葡萄牙星海“一带一路”联合实验室,上海200000

出　　处：《电光与控制》2025年第2期24-31,共8页Electronics Optics & Control

基　　金：国家计划(2022YFE0204600);辽宁省自然科学基金面上项目(2024-MSBA-80);中国科学院沈阳自动化研究所基础研究计划项目(2022JC3K03)。

摘　　要：针对空间双臂机器人轨迹规划问题,提出一种基于麻雀搜索算法的漂浮基座扰动最小化轨迹规划方法。首先,以双臂机器人各关节角度为优化变量,采用关节轨迹参数化方法构建机器人运动学模型;其次,将末端执行器的定位精度作为优化目标,将漂浮基座扰动作为优化约束;同时,为保证规划过程的安全性,引入惩罚因子和碰撞检测机制,将轨迹规划问题转化为一个带约束的多目标优化问题;最后,通过麻雀搜索算法对该问题进行求解,得到双臂机器人最终的关节优化轨迹。仿真结果表明,所提方法在确保末端执行器定位精度的同时,有效减小了基座扰动,且在基座无约束条件下的性能优于传统的粒子群优化算法和模拟退火算法。Aiming at the trajectory planning problem of space dual-arm robot this paper proposes a floating base perturbation minimization trajectory planning method based on sparrow search algorithm.Firstly the joint angles of the dual-arm robot are taken as optimization variables and the kinematics model of the robot is constructed by using the parametric method of joint trajectory.Secondly the positioning accuracy of the end effector is taken as the optimization goal and the disturbance of the floating base is taken as the optimization constraint.Meanwhile to ensure the safety of the planning process penalty factors and collision detection mechanisms are introduced and the trajectory planning problem is transformed into a constrained multi-objective optimization problem.Finally the sparrow search algorithm is used to solve the problem and the optimal joint trajectory of the dual-arm robot is obtained.The simulation results show that the proposed method can effectively reduce the base disturbance while ensuring the positioning accuracy of the end effector and its performance under the base unconstrained condition is better than the traditional particle swarm optimization and simulated annealing algorithms.

关 键 词：轨迹规划 空间双臂机器人 智能搜索算法 多目标优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]