摘要
本文提出一种利用冗余机械臂自运动特性,在障碍物与机械臂之间建立虚拟排斥速度场实现冗余机械臂避障的实时轨迹规划算法。首先,采用改进梯度投影法,快速计算出实现末端执行器主运动的最小范数解,同时在障碍物周围建立虚拟排斥速度场,将冗余机械臂从与障碍物最近的虚拟排斥速度作用点处分成2段并联机械臂,对拆分后的2段非冗余机械臂,快速求解出由虚拟排斥速度引起的各关节角速度分量,进一步向零空间投影求解出冗余机械臂自运动的避障角速度分量,最终实现冗余机械臂的实时避障轨迹规划。
This paper proposes a real-time trajectory planning algorithm that utilizes the self-motion characteristics of the redundant manipulator to establish a virtual repulsive velocity field between the obstacle and the manipulator to realize the obstacle avoidance of the redundant manipulator.First,the improved gradient projection method is used to quickly calculate the minimum norm solution to realize the main motion of the end effector,at the same time,a virtual repulsion velocity field is established around the obstacle,and the redundant manipulator is moved from the virtual repulsion velocity action point closest to the obstacle.It is divided into two parallel manipulators,and for the two non-redundant manipulators after splitting,the angular velocity components of each joint caused by the virtual repulsion speed are quickly solved,and the self-motion obstacle avoidance angular velocity components of the redundant manipulator is further solved by projecting to the zero space.Finally,the real-time obstacle avoidance trajectory planning of the redundant manipulator is realized.
作者
高其远
陈丽
GAO Qiyuan;CHEN Li(School of Air Transportation,Shanghai University of Engineering Science,Shanghai 201620,China)
出处
《智能计算机与应用》
2022年第6期116-120,126,共6页
Intelligent Computer and Applications
关键词
冗余机械臂
自运动
虚拟排斥速度
避障
实时轨迹规划
redundant manipulator
self-motion
virtual repulsion velocity
obstacle avoidance
real-time trajectory planning
