| 一种基于S-R-S构型特点的正交冗余机械臂避障规划方法 |
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| 引用本文： | 吴长征,岳义,韦宝琛,刘明芳.一种基于S-R-S构型特点的正交冗余机械臂避障规划方法[J].上海航天,2020,37(1):79-86. |
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| 作者姓名： | 吴长征 岳义 韦宝琛 刘明芳 |
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| 作者单位： | 上海交通大学 机械系统与振动国家重点实验室，上海200240,上海交通大学 机械系统与振动国家重点实验室，上海200240;上海航天设备制造总厂，上海200245,上海交通大学 机械系统与振动国家重点实验室，上海200240,上海航天设备制造总厂，上海200245 |
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| 基金项目： | 科技部重点研发计划智能机器人专项资助项目(2017YFB1301902);“十三五”装备预研共用技术资助项目(41417080301);航天先进技术联合研究中心技术创新资助项目(USCAST2015?36) |
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| 摘 要： | 针对正交冗余机械臂避障规划问题,提出了一种基于S-R-S构型特点的避障规划新方法。该方法将正交7自由度冗余机械臂构型等效为S-R-S(球副-转动副-球副)构型,并依据S-R-S构型特点将避障规划分为肘部笛卡尔位置规划、第2根臂杆规划、末端工具规划3个部分。引入Bézier曲线完成肘部和末端工具在球面的避障规划,第2根臂杆的避障规划依据避障最大运动能力调整完成。通过Schunk-Lwa4D正交冗余机械臂避障规划实验,验证了提出的基于S-R-S构型特点的避障规划新方法的有效性和可行性。
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| 关 键 词： | 正交冗余机械臂 S-R-S构型 避障规划 Bézier曲线 |
| 收稿时间： | 2018/11/3 0:00:00 |
| 修稿时间： | 2019/1/2 0:00:00 |
A Novel Obstacle Avoidance Planning Method for Orthogonal Redundant Manipulators Based on the S-R-S Configuration |
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| WU Changzheng,YUE Yi,WEI Baochen and LIU Mingfang.A Novel Obstacle Avoidance Planning Method for Orthogonal Redundant Manipulators Based on the S-R-S Configuration[J].Aerospace Shanghai,2020,37(1):79-86. |
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| Authors: | WU Changzheng YUE Yi WEI Baochen and LIU Mingfang |
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| Institution: | State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China,State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China;Shanghai Aerospace Equipment Manufacturing Factory, Shanghai 200245, China,State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China and Shanghai Aerospace Equipment Manufacturing Factory, Shanghai 200245, China |
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| Abstract: | A novel obstacle avoidance planning method based on the S-R-S configuration is proposed to solve the obstacle avoidance planning problem for orthogonal redundant manipulators. In the method, the configuration of the orthogonal redundant manipulator with 7 degrees of freedom is simplified as the spherical pair-rotational pair-spherical pair (S-R-S) configuration. According to the characteristics of the S-R-S configuration, the obstacle avoidance planning is divided into three parts, i.e., the Cartesian position planning of the elbow part, the planning of the second arm lever, and the planning of the end-of-arm tool (EOAT). The Bézier curve is introduced to complete the obstacle avoidance planning of the elbow part and the EOAT on a sphere surface, while the obstacle avoidance planning of the second arm lever is completed by the adjustment according to the maximum obstacle avoidance ability. Finally, through an obstacle avoidance planning experiment on the Schunk-Lwa4D orthogonal redundant manipulator, the effectiveness and feasibility of the proposed novel obstacle avoidance method based on the S-R-S configuration are verified. |
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