基于头部碰撞等效模型的柔性关节机械臂安全构型优化

doi:10.13973/j.cnki.robot.2017.0523

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孟得山, 王学谦, 梁斌, 梁建. 基于头部碰撞等效模型的柔性关节机械臂安全构型优化[J]. 机器人, 2017, 39(4): 523-531.DOI: 10.13973/j.cnki.robot.2017.0523. MENG Deshan, WANG Xueqian, LIANG Bin, LIANG Jian. Safe Configuration Optimization of Flexible Joint Manipulator Based on Equivalent Model of Head Collision. ROBOT, 2017, 39(4): 523-531. DOI: 10.13973/j.cnki.robot.2017.0523.

摘要为了提高柔性关节机械臂的头部碰撞安全性，提出基于机械臂安全指数和梯度投影法的柔性关节机械臂构型优化方法，并给出安全碰撞方向和安全构型的确定方法．首先建立柔性关节机械臂的头部碰撞等效模型，模型充分考虑了机械臂关节柔性的影响．然后分别给出固定构型下安全碰撞方向的确定方法和固定碰撞方向下安全构型的确定方法．基于机械臂安全指数，采用梯度投影算法实现了冗余柔性关节机械臂连续路径的构型优化．最后，建立闭环仿真系统，分别通过平面3自由度机械臂和空间7自由度机械臂验证了采用梯度投影法降低机械臂安全指数的有效性．2种仿真结果显示，优化后的机械臂安全指数分别降低了83.86%和26.42%．

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关键词 ：机械臂, 柔性关节, 头部碰撞, 构型优化, 安全碰撞指数

Abstract：In order to improve head-collision safety of flexible joint manipulators, an optimization method of flexible joint manipulator configuration based on the manipulator safety index and gradient projection method is proposed, and the methods of determining the safe collision direction and the safe configuration are given. Firstly, the equivalent model of head collision of the flexible joint manipulator is established, in which the influence of the flexibility of the manipulator joint is taken into account. Then, the method of determining the direction of safe collision under fixed configuration and the method of determining the safe configuration under fixed collision direction are given respectively. Based on the manipulator safety index, the gradient projection algorithm is used to optimize the configuration of continuous path of the redundant flexible joint manipulator. Finally, a closed-loop simulation system is established. The effectiveness of using the gradient projection method to reduce the safety index of the manipulator is verified by a planar 3-DOF (degree of freedom) manipulator and a space 7-DOF manipulator respectively. Two simulation results show that the optimized safety index of the manipulator is reduced by 83.86% and 26.42%, respectively.

Key words： manipulator flexible joint head collision configuration optimization collision safety index

TP24

基金资助:国家自然科学基金（61673239）；广东省自然科学基金（2015A030313881）

通讯作者: 梁斌,E-mail:bliang@mail.tsinghua.edu.cn E-mail: bliang@mail.tsinghua.edu.cn

作者简介: 孟得山(1988-),男,博士后.研究领域:安全机器人,柔性机械臂,动力学与控制.
王学谦(1980-),男,博士,副研究员.研究领域:机器人,遥操作.
梁斌(1968-),男,博士,教授.研究领域:智能机器人,智能控制.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0523 或 https://robot.sia.cn/CN/Y2017/V39/I4/523

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