冗余度双臂机器人协调避障算法

Obstacle Avoidance Algorithm for Coordinated Motion of Redundant Dual-arm Robot

针对冗余度双臂机器人协调操作的避障规划问题,提出了一种基于自运动特性的避障算法。引入用于描述协调操作任务的绝对位姿变量和相对位姿变量,构造出对应于协调操作任务的雅可比矩阵,在此基础上,得到了用于避障的冗余度双臂机器人运动学逆解,使得冗余度双臂机器人能够同时完成两个机械臂的避障任务和末端的协调操作任务。最后,通过对一个冗余度双臂机器人的仿真试验,对算法的正确性进行了验证。结果表明,机器人与障碍物的最近距离大于0.015 m,并且机器人可以准确地完成末端的协调操作任务,关节运动连续、平稳。

To deal with the problem of obstacle avoidance for redundant dual-arm robot, an obstacle avoidance algorithm based on self-motion was presented. In order to fully describe a cooperative task for a dual-arm robot system, this allows a straightforward description of general coordinated motion in terms of meaningful absolute and relative variables. The proposed Jacobians were expressed in terms of the Jacobians of the single manipulators. Based on this, the kinematics inverse solution of redundant dual- arm robot used to avoid obstacles was obtained. Using this approach, the robot can accomplish the coordinated motion tasks while avoiding the obstacles. Finally, the validity of the algorithm was manifested by simulation of a redundant dual-arm robot. Results show that the closest distance between the manipulator and the obstacle was more than O. 015 m, while the end-effector of the robot can accomplish the coordinated motion tasks accurately and the path was smooth. As a conclusion, the redundant robot can not only realize the obstacle avoidance, but also accomplish the coordinated motion using the proposed approach.