基于冗余特性的双臂机器人避碰算法

The collision avoidance algorithm for dual-arm robot based on redundancy

针对冗余自由度双臂机器人避碰的运动学规划问题,提出了一种基于冗余特性的避碰算法。在冗余度机器人运动学逆解的基础上,引入了两个转换变量,可以根据实时得到的两臂之间最小距离的变化,实现机器人末端的轨迹跟踪运动和避碰运动之间的主从任务优先级转换。该方法可以用来防止由于机器人末端偏离期望轨迹而引发的碰撞问题,在实现双臂避碰的同时,两臂末端可以准确地到达目标位置。最后,通过对一个三自由度平面双臂机器人的仿真实验,对提出的冗余自由度双臂机器人避碰算法的正确性进行了验证,结果显示该算法简单有效,且关节运动连续、平稳。

To deal with the problem of collision avoidance for dual-arm redundant robots, it presents an collision avoidance algorithm based on redundancy.On the basis of inverse kinematic of redundant robot, it uses two transitioning variables to make a smooth, continuous transition between the primary and the secondary task.This approach can mainly prevent any collision caused by deviating from the desired trajectory.Using this approach, the robot can get the target position while avoiding the collisions.The simulation shows the validity of the collision avoidance algorithm based on redundancy, this approach is effective and the path is smooth.