基于速度修正项的机械臂避障路径规划

Obstacle avoidance path planning of manipulator based on speed correction term

针对机械臂运行过程中存在的碰撞问题,提出一种基于速度修正项的机械臂避障路径规划方法.利用B样条曲线进行机械臂关节空间规划,使机械臂能够在特定时刻运行到指定构型.在运行过程中,利用碰撞检测算法实时计算机械臂与障碍物的最小距离,在碰撞即将发生时引入积分为零的避障速度修正项改变机械臂运行轨迹,使得机械臂能够在实现障碍回避的同时,保证其在特定时刻通过指定构型的要求.仿真实验表明了所提出方法的正确性和有效性.

Aiming at the collision problem in the operation of manipulator, an obstacle avoidance path planning method based on the speed correction term is proposed. In the joint space of the manipulator, the path is planned by B-spline curve, so that the manipulator can reach given configuration at the particular moment. The collision detection algorithm is used to calculate the minimum distance between the manipulator and the obstacle during the whole operation process, and the speed correction term for obstacle avoidance is introduced to adjust the motion trajectory of the manipulator once the collision happens. Since the integration of the speed correction term is zero during the process of obstacle avoidance, the manipulator can reach given configuration at the particular moment after avoiding obstacle. Finally, the correctness and the effectiveness of the proposed method are verified by the simulation experiment.