上海交通大学学报

上海交通大学学报（自然版） ›› 2018, Vol. 52 ›› Issue (1): 45-53.doi: 10.16183/j.cnki.jsjtu.2018.01.008

• 学报（中文） • 上一篇    下一篇

双臂机器人自碰撞检测及其运动规划

吴长征1，岳义1,2，韦宝琛1，刘殿富3   

  1. 1. 上海交通大学 机械系统与振动国家重点实验室， 上海 200240； 2. 上海航天设备制造总厂， 上海 200245； 3. 上海宇航系统工程研究所， 上海 201109
  • 出版日期:2018-01-01 发布日期:2018-01-01
  • 基金资助:
    航天先进技术联合研究中心技术创新项目(USCAST2015-36)

Self-Collision Detection and Motion Planning for Dual-Arm Robot

WU Changzheng1，YUE Yi1,2，WEI Baochen1，LIU Dianfu3   

  1. 1. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China; 2. Shanghai Aerospace Equipment Manufacturing Factory, Shanghai 200245, China; 3. Shanghai Institute of Aerospace Systems Engineering, Shanghai 201109, China
  • Online:2018-01-01 Published:2018-01-01

摘要： 针对双臂机器人运动规划过程中的自碰撞问题，提出了基于空间向量几何距离的机械臂自碰撞检测方法；改进了传统的人工势场法，并用线性结构的斥力场描述机械臂各杆件之间的相互关系，用于构造多杆碰撞检测的描述指标；利用线性斥力场描述的结构得到一种新的双臂机器人无自碰撞运动规划算法.结果表明，与传统的人工势场法相比，所提出的无自碰撞运动规划算法能够将线性斥力场引入无自碰撞规划算法中，并作为算子用于计算避免自碰撞的规划调整量，其结构简单、计算方便.同时，结合实际的双臂机器人物理参数，通过预先给定机器人运动轨迹的模拟，验证了无自碰撞运动规划算法的有效性.

关键词: 双臂机器人, 自碰撞, 碰撞检测, 运动规划, 势场法

Abstract: A method based on geometric distance of space vector is proposed for the self-collision detection in motion planning of dual-arm robots. In terms of this, a linear repulsion force field which is improved from the artificial potential field method is used to describe the position relationship and collision quota among the links. Then a novel self-collision-free motion planning is derived by combining with the linear form of repulsion potential field. Compared with the traditional artificial potential filed planner, the improved linear force field can directly act as an operator to plan the trajectory of the dual-arm robot with properties that are simple and easy to be handled. Finally, a case study demonstrates the effectiveness of the motion planning algorithm with the real parameters of a dual-arm robot.

Key words: dual-arm robot, self-collision, collision detection, motion planning, potential field

中图分类号: