基于似人特性的拟人臂机器人自主抓取动作规划

Autonomous Grasp Motion Planning for an Anthropomorphic Robot Arm Based on Human Likeness

  • 摘要: 针对拟人臂机器人在家庭环境中的自主抓取任务,提出了一种强调运动姿态似人特性的拟人臂动作的规划方法.该方法分为两个部分,构型规划和运动规划,构型规划基于人体工程学中广泛使用的快速上肢评估准则评价机器人运动姿态的似人特性,并在此基础上以机器人末端传速速率最优为目标规划机器人运动过程中的关键构型.运动规划结合了 Fitts 定律和似人运动模型规划了机器人末端的空间轨迹.本文最后以 Motoman SDA10D 拟人双臂机器人和 Mitsubishi PA10 机器人为例,具体介绍了该方法的应用和规划的结果,规划结果证明了本方法的可行性和有效性.

     

    Abstract: A motion planning method for anthropomorphic robot arm which emphasizes the human likeness of robot movement is proposed in this paper to solve the autonomous grasp task of service robot in house environment. The method involves configuration planning and movement planning. The Rapid Upper Limb Assessment (RULA) criterion which is widely used in applied ergonomics is adopted in configuration planning to assess the human likeness of robot movement, then the key configuration of the robot movement is planned to generate the maximal velocity transmission ratio at its end-effector. The Fitts law and human-like movement model is used in movement planning to generate trajectory of the robot. Illustrative example of this method applied to a dual anthropomorphic arm robot Motoman SDA10D and Mitsubishi PA10 is presented in this paper, and reasonable planning results confirm the feasibility and effectiveness of the method.

     

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