基于主从任务转化的冗余度机器人避障算法

doi:10.13973/j.cnki.robot.2014.0425

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (686 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
申浩宇, 吴洪涛, 陈柏, 丁力, 杨小龙. 基于主从任务转化的冗余度机器人避障算法[J]. 机器人, 2014, 36(4): 425-429.DOI: 10.13973/j.cnki.robot.2014.0425. SHEN Haoyu, WU Hongtao, CHEN Bai, DING Li, YANG Xiaolong. Obstacle Avoidance Algorithm for Redundant Robots Based on Transitioning between the Primary and the Secondary Task. ROBOT, 2014, 36(4): 425-429. DOI: 10.13973/j.cnki.robot.2014.0425.

摘要

在冗余度机器人的避障规划问题中，当障碍影响机器人末端运动时，避障运动和机器人的末端轨迹跟踪运动会发生相互冲突．针对这个问题，提出了基于主从任务转化的避障算法．该方法将避障运动的操作空间定义为1维的运动空间，引入了2个转换变量，可以根据得到的实时最小距离的变化，实现机器人末端的轨迹跟踪运动和避障运动之间光滑连续的优先级转换．最后，通过对一个3自由度平面机器人的仿真实验，对算法的正确性进行了验证．结果表明，机器人与障碍物的最近距离大于0.02m，并且机器人末端可以准确地到达目标位置．所提出的方法不仅能实现冗余度机器人的避障，而且能防止任务之间的冲突．

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	申浩宇
	吴洪涛
	陈柏
	丁力
	杨小龙

关键词 ：冗余度机器人, 避障, 轨迹跟踪, 操作空间

Abstract：

Conflict will take place between the trajectory tracking motion and the obstacle avoiding motion of the end-effector of the redundant robot, if the motion of the end-effector is disturbed by any obstacles in the obstacle avoidance problem of redundant robots. To deal with the obstacle avoidance problem, an obstacle avoidance algorithm based on transitioning between the primary and the secondary tasks is presented. Firstly, the obstacle avoiding motion is defined in one dimensional operational space, and two transitioning variables are used to make a smooth, continuous priority transition between the trajectory tracking motion and the obstacle avoiding motion of the end-effector using the real-time minimum distance. Finally, the validity of the algorithm is manifested by simulation of a 3-DoF plane robot. Results show that the closest distance between the manipulator and the obstacle is greater than 0.02m, while the end-effector of the robot can get the target position accurately. As a conclusion, the redundant robot can not only realize the obstacle avoidance, but also prevents the conflict between tasks by the proposed approach.

Key words： trajectory tracking operational space redundant robot obstacle avoidance

收稿日期: 2014-03-11 录用日期: 2014-07-11

TP242

基金资助:

国家自然科学基金资助项目（51375230）；国家863计划资助项目（2013AA041004）；江苏省科技支撑计划重点项目（BE2013003-1）；江苏省科技支撑计划重点项目（BE2013010-2）

通讯作者: 吴洪涛，mehtwu@126.com E-mail: mehtwu@126.com

作者简介: 申浩宇（1986-），男，博士生．研究领域：机器人动力学及控制．
吴洪涛（1962-），男，博士，教授，博士生导师．研究领域：机器人学及智能机器，机械多体系统理论与应用，并联运动学机器，微陀螺及MEMS系统，机电控制及自动化．
陈柏（1978-），男，博士，教授，博士生导师．研究领域：医疗器械，仿生机器人，管道机器人等．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2014.0425 或 https://robot.sia.cn/CN/Y2014/V36/I4/425

[1] 陆震,何广平.冗余自由度机器人原理及应用[M].北京:机械工业出版社,2007:1-65.Lu Z, He G P. Principle and application of redundant robots[M]. Beijing: China Machine Press, 2007: 1-65.

[2] Nemec B, Zlajpah L, Omrcen D. Comparison of null-space and minimal null-space control algorithms[J]. Robotica, 2007, 25(5): 511-520.

[3] 续龙飞,李俊,甘亚辉,等.作业约束下的冗余度机器人自运动避障规划方法[J].中南大学学报:自然科学版,2013,44(S2):98-103.Xu L F, Li Q, Gan Y H, et al. A collision-free motion planning method for a redundant manipulator with a constrained task Principle and application of redundant robots[J]. Journal of Central South University: Science and Technology, 2013, 44(S2): 98-103.

[4] 贾庆轩,张倩茹,高欣,等.预选择最小距离指标的冗余机器人动态避障算法[J].机器人,2013,35(1):17-22.Jia Q X, Zhang Q R, Gao X, et al. Dynamic obstacle avoidance algorithm for redundant robots with pre-selected minimum distance index[J]. Robot, 2013, 35(1): 17-22.

[5] 吴洪涛,王春钢,蔡鹤皋.冗余度机器人的运动学和动力学优化[J].哈尔滨工业大学学报,1994,26(1):113-117.Wu H T, Wang C G, Cai H G. Kinematic and dynamic optimization redundant manipulators[J]. Journal of Harbin Institute of Technology, 1994, 26(1): 113-117.

[6] 姜力,周扬,孙奎,等.七自由度冗余机械臂避障控制[J].光学精密工程,2013,21(7):1795-1801.Jiang L, Zhou Y, Sun K, et al. Obstacle avoidance control for 7-DOF redundant manipulations[J]. Optics and Precision Engineering, 2013, 21(7): 1795-1801.

[7] 孙立宁,赵建文,杜志江.单冗余度机器人避障能力指标的建立及在7自由度冗余手臂上的实践[J].机械工程学报,2007,43(5):223-229.Sun L N, Zhao J W, Du Z J. Concept and application on 7-DOF redundant manipulator of index to measure capability of collision-avoidance for single redundant manipulator[J]. Chinese Journal of Mechanical Engineering, 2007, 43(5): 223-229.

[8] Shukla A, Singla E, Wahi P, et al. A direct variational method for planning monotonically optimal paths for redundant manipulators in constrained workspaces[J]. Robotics and Autonomous Systems, 2013, 61(2): 209-220.

[9] Maciejewski A, Klein C. Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments[J]. International Journal of Robotics Research, 1985, 4(3): 109-117.

[10] Colbaugh R, Seraji H, Glass, K. Obstacle avoidance for redundant robots using configuration control[J]. Journal of Robotic Systems, 1989, 6(6): 721-744.

[11] McLean A, Cameron S. The virtual springs method: Path and collision avoidance for redundant manipulators[J]. International Journal of Robotic Research, 1996, 15(4): 300-319.

[12] Guo Z Y, Hsia T C. Joint trajectory generation for redundant robots in an environment with obstacles[J]. Journal of Robotic Systems, 1993, 10(2): 119-215.

[13] Chyan G S, Ponnambalam S G. Obstacle avoidance control of redundant robots using variants of particle swarm optimization[J]. Robotics and Computer-Integrated Manufacturing, 2012, 28(2): 147-153.

[14] Zhu X, Qiao H. Obstacle avoidance for kinematically redundant manipulators using polyhedral approximations[J]. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2003, 217(5): 533-542.

[15] Sardana L, Sutar M K, Pathak P M. A geometric approach for inverse kinematics of a 4-link redundant In-Vivo robot forbiopsy[J]. Robotics and Autonomous Systems, 2013, 61(12): 1306-1313.

[16] Petric T, Zlajpah L. Smooth continuous transition between tasks on a kinematic control level: Obstacle avoidance as a control problem[J]. Robotics and Autonomous Systems, 2013, 61(9): 948-959.