障碍环境下移动操作机零件移动规划方法研究

Part transfer planning for mobile assembly manipulators in presence of obstacles

将移动操作机应用于装配领域,研究了运动冗余且受非完整约束的移动操作机系统在障碍环境下完成零件移动任务的运动规划问题。将整个任务划分成移动、夹取和转移3个子任务。将随机道路图法应用于移动操作机的协同避障规划,首先求出了移动平台的一条满足非完整约束的简单路径;然后以此路径作为操作臂位置约束,在操作臂的位形空间内随机采样构造了道路图;最后通过图的搜索获得一条移动操作机的无碰路径。以平面移动操作机为例,通过计算机仿真实现了2维工作空间的零件移动操作,表明了该方法的有效性。

The mobile manipulator was applied to complete the part transfer in the assembly process. The motion planning problem in the presence of obstacles was studied for the mobile manipulator system with kinetic redundancy and subject to nonholonomic constraints. The whole task was divided into three subtasks： motion, grasp and transfer, different path planning methods were used for corresponding subtasks. The probabilistic roadmaps method was applied to solve the collaborative obstacle avoidance problem for mobile manipulators. First a simple path curve for the mobile platform that respected the nonholonomic constraints was planned. Then, taking the path curve as a position constraint, a roadmap was constructed by randomly selecting configuration of the manipulator. A free path for the mobile manipulator was obtained by roadmap search. The simulation results of the 2-D planar nonholonomic mobile manipulator were given to show the effectiveness of the proposed method.