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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。
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.
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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 5 已知轨迹点的构形平面规划
Figure 5. Configuration plane planning based on known trajectory points
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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