空间两刚体滚动约束系统在线运动规划

doi:10.16183/j.cnki.jsjtu.2019.261

上海交通大学学报 ›› 2021, Vol. 55 ›› Issue (8): 1009-1017.doi: 10.16183/j.cnki.jsjtu.2019.261

所属专题：《上海交通大学学报》2021年12期专题汇总专辑；《上海交通大学学报》2021年“自动化技术、计算机技术”专题

空间两刚体滚动约束系统在线运动规划

任书锋^a, 杨丹^a, 余海东^a(), 王皓^a^,^b

上海交通大学 a.上海市复杂薄板结构数字化制造重点实验室, 上海 200240
b.机械系统与振动国家重点实验室, 上海 200240

收稿日期:2019-09-15 出版日期:2021-08-28 发布日期:2021-08-31
通讯作者: 余海东 E-mail:hdyu@sjtu.edu.cn
作者简介:任书锋(1995-),男,山西省孝义市人,硕士生,从事机器人运动规划的研究
基金资助:
国家科技重大专项(2017ZX04005001)

Online Motion Planning for Two Space Rigid Bodies with Rolling Constraints

REN Shufeng^a, YANG Dan^a, YU Haidong^a(), Wang Hao^a^,^b

a. Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai 200240, China
b. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China

Received:2019-09-15 Online:2021-08-28 Published:2021-08-31
Contact: YU Haidong E-mail:hdyu@sjtu.edu.cn

摘要/Abstract

摘要：

空间两刚体间的滚动约束系统是一种典型的非完整系统,非完整的特性可以用于简化机械结构,提高系统可靠性.针对纯滚动约束非完整系统的状态变量之间相互耦合难以控制、已有的控制方法局限于特定的模型且缺少对在线控制研究等问题,建立了适用于一般滚动约束系统在线运动规划的求解方法.该方法基于滚动约束一阶运动模型,首先通过配点法实现离线运动规划获得参考轨迹,然后在实时控制中结合滚动优化框架运用最优动作控制(SAC)算法,实现滚动系统的在线运动规划.将算法运用于球-平面滚动模型和两个球体间滚动模型的实时运动规划,仿真结果表明该方法在拓宽球形机器人控制和灵巧机械手操作方面具有实际应用价值.

关键词: 滚动约束, 非完整系统, 运动规划, 直接配点法, 最优动作控制

Abstract:

The rolling restraint system between two space rigid bodies is a typical non-holonomic system. The incomplete characteristics can be used to simplify the mechanical structure and improve the reliability of the system. Aimed at the problems that the state variables of the pure rolling constraint non-holonomic system are difficult to control, the existing control methods are limited to specific models, and there is a lack of online control research, a solution method suitable for the online motion planning of the general rolling constraint system is established based on the rolling constraint first-order motion model. First, the offline motion planning is achieved by using the collocation method to obtain the reference trajectory. Then, the sequential action control (SAC) algorithm is used in real-time control combined with the rolling optimization framework to realize the online motion planning of the rolling system. The algorithm is applied to the real-time motion planning of the ball-plane rolling model and the rolling model between two spheres. The simulation results show that the method has a practical application value in broadening the control of the spherical robot and the operation of the dexterous manipulator.

Key words: rolling constraints, non-holonomic system, motion planning, direct collocation method, sequential action control (SAC)

中图分类号:

TP242

任书锋, 杨丹, 余海东, 王皓. 空间两刚体滚动约束系统在线运动规划[J]. 上海交通大学学报, 2021, 55(8): 1009-1017.

REN Shufeng, YANG Dan, YU Haidong, Wang Hao. Online Motion Planning for Two Space Rigid Bodies with Rolling Constraints[J]. Journal of Shanghai Jiao Tong University, 2021, 55(8): 1009-1017.

图/表 11

图1

图2

图3

表1

滚动接触模型离线运动规划参数

参数名	参数值
配点数	41
控制变量约束	$ω x$ ≤30, $ω y$ ≤30
Q	diag([100 100 10 10 1])
R	diag([0.1 0.1])
P₁	diag([20 20 10 10 1])

表1

表2

图4

图5

图6

图7

图8

图9

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参数名	参数值
传感器采样频率	f_s=50 Hz,t_s=0.02 s
预测区间/控制时长初值	T_p=0.5 s,Δt_init=0.1
目标函数下降上限系数	γ=-5
线搜索参数	ω=0.55,k_max=6
Q	diag([1000 1000 50 50 1])
R	diag([0.1 0.1])

空间两刚体滚动约束系统在线运动规划

Online Motion Planning for Two Space Rigid Bodies with Rolling Constraints

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