关节型机器人的似人操作构型规划

Human-like manipulation planning for articulated manipulator

对关节型机器人的操作构型进行规划时,本文提出了一种新的规划方法,它结合了似人评估准则和机器人传速特性优化的概念,可实现有最大末端传速特性的操作,同时与人类手臂操作的特点最为相似.该方法首先利用应用人体工程学中的快速上肢评价准则(RULA)对机器人的操作空间进行划分,然后在各子空间内最大化机器人末端沿指定方向的传速速率.最终选定一个最符合人类操作特性又同时满足操作任务的机器人操作构型.通过在2自由度平面机器人和7自由度拟人机械臂上的规划实验进一步展示了本方法的使用,规划结果验证了其有效性.

In planning the operation configuration for an articulated manipulator, we propose a novel method which combines the concept of human-like assessment and the velocity transmission ratio. By this method of planning, the manipulator can perform operations most similar to the operations of a human arm, with maximal velocity transmission ratio at its end-effector. The criterion of the rapid upper limb assessment （RULA） which is widely used in applied ergonomics has been adopted to divide the robot operation configuration space into different subregions, in which the velocity transmission ratio of the manipulator along a specified direction is maximized. Then, the final planning result which satisfies the task requirements with the most human-like operations is determined. Illustrative examples of this method applied to a 2 degrees of freedom （DOF） planar robot and a 7-DOF humanoid arm validate its effectiveness.