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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

王安琪, 魏延辉, 韩寒, 等 . 基于构形平面的冗余机械臂轨迹规划方法[J]. 北京航空航天大学学报, 2018, 44(9): 1991-1997. doi: 10.13700/j.bh.1001-5965.2017.0746
引用本文: 王安琪, 魏延辉, 韩寒, 等 . 基于构形平面的冗余机械臂轨迹规划方法[J]. 北京航空航天大学学报, 2018, 44(9): 1991-1997. doi: 10.13700/j.bh.1001-5965.2017.0746
WANG Anqi, WEI Yanhui, HAN Han, et al. Trajectory planning method for redundant manipulator based on configuration plane[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(9): 1991-1997. doi: 10.13700/j.bh.1001-5965.2017.0746(in Chinese)
Citation: WANG Anqi, WEI Yanhui, HAN Han, et al. Trajectory planning method for redundant manipulator based on configuration plane[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(9): 1991-1997. doi: 10.13700/j.bh.1001-5965.2017.0746(in Chinese)

基于构形平面的冗余机械臂轨迹规划方法

doi: 10.13700/j.bh.1001-5965.2017.0746
基金项目: 

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

详细信息
    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

    通讯作者:

    魏延辉.E-mail:wyhhit@163.com

  • 中图分类号: TP242

Trajectory planning method for redundant manipulator based on configuration plane

Funds: 

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

More Information
  • 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。

     

  • 图 1  构形平面示意图

    Figure 1.  Schematic diagram of configuration plane

    图 2  构形平面的运动学模型

    Figure 2.  Kinematic model of configuration plane

    图 3  构形平面内的障碍物干涉检测

    Figure 3.  Interference detection of obstacles within configuration planes

    图 4  空间构形平面位置确定

    Figure 4.  Determining space position of configuration planes

    图 5  已知轨迹点的构形平面规划

    Figure 5.  Configuration plane planning based on known trajectory points

    图 6  7自由度冗余机械臂运动模型

    Figure 6.  Kinematic model of a 7-DOF redundant manipulator

    图 7  冗余机械臂构形平面划分

    Figure 7.  Division of configuration plane of a redundant manipulator

    图 8  机械臂插补轨迹点的坐标

    Figure 8.  Coordinates of trajectory interpolation points of manipulator

    图 9  机械臂各关节在插补点的角度

    Figure 9.  Joint angles of manipulator when end-effector is located in trajectory points

    表  1  关节参数

    Table  1.   Joint parameters

    关节名称 运动范围/(°) 关节参数尺寸/mm
    关节1 -180≤θ1≤180 d1=350
    关节2 -190≤θ2≤10 d2=450
    关节3 -100≤θ3≤100 d3=350
    关节4 -100≤θ4≤100 d4=150
    关节5 -150≤θ5≤150 d5=145
    关节6 -100≤θ6≤100 d6=150
    关节7 -180≤θ7≤180 d7=160
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出版历程
  • 收稿日期:  2017-11-29
  • 录用日期:  2018-04-08
  • 刊出日期:  2018-09-20

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