基于合作的冗余度双臂机器人的避碰研究

冗余度双臂机器人在危险或太空环境中具有极高的应用价值，但是实现有效的和实时的合作是很困难的。在合作的双臂机器人之间实现避碰是成功地应用冗余度双臂机器人的关健。尽管基于距离函数的方法已被证明简单和有效，但是不同的避碰点经常会产生不同的避磋结果，甚至会导致失败。本讨论了避碰点的选择问题，提出了一种新的避碰点选择方法，并用冗余度平面机器人对该方法进行了验证。

Collision Avoidance of Cooperative Dual Redundant Manipulators

Dual redundant manipulators are extremely useful for tasks in dangerous or space environments, but efficient and real time coordinated control is hard to achieve. Collision avoidance between two cooperative manipulators is vital to the successful applications of dual redundant manipulators. Although methods based on the distance function have been demonstrated simple and efficient, different collision avoidance points can usually produce completely different results and even failure. The paper discussed the choices of collision avoidance points and proposed a novel method for the choosing of those points. The method is testified by simulation results of two redundant planar manipulators.