北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (9): 1991-1997.doi: 10.13700/j.bh.1001-5965.2017.0746

• 论文 • 上一篇    下一篇

基于构形平面的冗余机械臂轨迹规划方法

王安琪, 魏延辉, 韩寒, 徐丽学   

  1. 哈尔滨工程大学 自动化学院, 哈尔滨 150001
  • 收稿日期:2017-11-29 出版日期:2018-09-20 发布日期:2018-09-21
  • 通讯作者: 魏延辉.E-mail:wyhhit@163.com E-mail:wyhhit@163.com
  • 作者简介:王安琪 女,硕士研究生。主要研究方向:水下机器人控制、冗余机械臂;魏延辉 男,博士,硕士生导师。主要研究方向:水下机器人控制、冗余机械臂。
  • 基金资助:
    国家科学技术部国际科技合作项目(2014DFR10010);国防基础科研项目(A0420132202);十三五海军预研(J040717005);黑龙江省自然科学基金(E2017024)

Trajectory planning method for redundant manipulator based on configuration plane

WANG Anqi, WEI Yanhui, HAN Han, XU Lixue   

  1. College of Automation, Harbin Engineering University, Harbin 150001, China
  • Received:2017-11-29 Online:2018-09-20 Published:2018-09-21
  • Supported by:
    National Science and Technology Department International Science and Technology Cooperation Project (2014DFR10010); Defense Industrial Technology Development Program (A0420132202); Thirteen Five Navy Pre-research (J040717005); Natural Science Foundation of Heilongjiang Province of China (E2017024)

摘要: 针对冗余机械臂在空间轨迹规划过程中构形多样但不唯一的问题,提出了一种快速求解冗余机械臂在空间轨迹规划过程中的最优构形的方法。受机械臂关节约束和空间障碍的限制,冗余机械臂的轨迹规划是一个复杂的过程。而为了保证机械臂运动的平稳性,冗余机械臂工作构形由多个机械臂关节轴线依次连接形成的构形平面组成。从构形平面入手,利用空间几何的方法,对冗余机器人进行空间轨迹规划,通过空间矢量引导、避障路径的比较,快速找到空间优化的路径,实现多目标轨迹规划方法。该方法用于一个7自由度冗余机械臂,结果表明该技术能够快速直观解决路径规划问题,不依赖具体的机械臂工作构形,适用于更多自由度的冗余机械臂。

关键词: 冗余机械臂, 构形平面, 空间几何, 轨迹规划, 空间避障

Abstract: This paper proposes a novel method for solving the problem of multi-goal redundant manipulator trajectory planning. Specifically, Specifically, the trajectory planning path for a redundant manipulator is a complicated process with the joint constraint and the limit of spatial obstacle. First, to ensure stability of the manipulator motion, the work configuration of a redundant manipulator can be composed of multiple joint axes, which are connected in sequence. Second, by using the spatial geometry method, spatial trajectory planning for a redundant manipulator can be performed based on the configuration plane. Third, the optimized spatial path can be quickly obtained, which achieves multi-goal trajectory planning using the method of spatial vector leading, obstacle avoidance path comparing and choosing. Finally, a simulation using a 7-DOF redundant manipulator is conducted. The simulation result shows that the path planning problem can be solved quickly and intuitively by this method. Further, it does not depend on the work configuration of the manipulator and can be applied to redundant manipulators with more degrees of freedom.

Key words: redundant manipulator, configuration plane, space geometry, trajectory planning, space obstacle avoidance

中图分类号: 


版权所有 © 《北京航空航天大学学报》编辑部
通讯地址:北京市海淀区学院路37号 北京航空航天大学学报编辑部 邮编:100191 E-mail:jbuaa@buaa.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发