朱海飞, 管贻生, 吴文强, 蔡传武, 周雪峰, 张宏. 基于二分逼近原理的定姿态工作空间快速搜索方法[J]. 机器人, 2013, 35(6): 709-715. DOI: 10.3724/SP.J.1218.2013.00709
引用本文: 朱海飞, 管贻生, 吴文强, 蔡传武, 周雪峰, 张宏. 基于二分逼近原理的定姿态工作空间快速搜索方法[J]. 机器人, 2013, 35(6): 709-715. DOI: 10.3724/SP.J.1218.2013.00709
ZHU Haifei, GUAN Yisheng, WU Wenqiang, CAI Chuanwu, ZHOU Xuefeng, ZHANG Hong. A Fast Search Method for Computing the Constant-Orientation Workspace Based on the Binary Approximating Principle[J]. ROBOT, 2013, 35(6): 709-715. DOI: 10.3724/SP.J.1218.2013.00709
Citation: ZHU Haifei, GUAN Yisheng, WU Wenqiang, CAI Chuanwu, ZHOU Xuefeng, ZHANG Hong. A Fast Search Method for Computing the Constant-Orientation Workspace Based on the Binary Approximating Principle[J]. ROBOT, 2013, 35(6): 709-715. DOI: 10.3724/SP.J.1218.2013.00709

基于二分逼近原理的定姿态工作空间快速搜索方法

A Fast Search Method for Computing the Constant-Orientation Workspace Based on the Binary Approximating Principle

  • 摘要: 为求解串联机器人的定姿态工作空间,提出一种基于二分逼近原理的快速搜索方法.该方法以机器人的逆运动学和碰撞二值测试为基础,通过引入包含姿态信息的虚拟直线并选择线上两点(定姿态工作空间内外各一点),不断进行二分和测试从而逐步逼近定姿态工作空间的边界.首先介绍了定姿态工作空间的概念及研究现状,提炼出其问题模型及求解思路;然后详细介绍了二分逼近搜索法及其在1维、 2维和3维定姿态工作空间求解中的应用;最后通过仿真分析和比较验证了算法的有效性,表明二分逼近搜索法在精度为1mm时1维定姿态工作空间求解平均耗时14.5ms,适用于不同自由度和构型的机器人的1维~3维无碰定姿态工作空间求解问题.

     

    Abstract: In order to compute the constant-orientation workspace of serial robots, a fast search method based on the binary approximating principle is proposed. On the basis of binary tests of the inverse kinematics and the collision detection of a robot, this method introduces virtual straight lines containing the orientation information and selects two points (one locates inside the constant-orientation workspace, while the other outside) to carry out the dichotomy and test processes, so as to approach the boundary of the constant-orientation workspace step by step. Firstly, the concept and the state of the art of constant-orientation workspace are introduced in brief. The constant-orientation workspace problem is abstracted, followed by the basic solving ideas. Then the binary approximating search method and its applications to computing the 1D、2D and 3D constant-orientation workspace are presented in detail. Finally, the effectiveness of the proposed method is demonstrated by simulations and comparisons, showing that the method achieves the accuracy as 1mm consuming about 14.5ms to search the 1D constant-orientation workspace, and is suitable for solving the 1D ~ 3D collision-free constant-orientation workspace problem of robots with different degrees of freedom or configurations.

     

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