摘要
在几何力学框架下提出了开链机械臂末端实时追踪避障算法.首先,将回转力引入机械臂末端的自然运动方程,可以在工作空间获得光滑的避障轨迹;其次,利用阻尼最小二乘法求解相应的逆运动学问题,得到关节空间的平滑运动轨迹;最后,通过6自由度机械臂的仿真,并与经典的RRT算法作对比,验证了所提算法的有效性.
An online algorithm of real-time collision avoidance and trajectory tracking for the manipulator end-effector is proposed in the framework of geometric mechanics in this paper. First,the gyroscopic force is introduced in the motion of end-effector to generate its collision-free smooth trajectory in work space. Next,the corresponding smooth trajectories in the joint space are obtained by solving the inverse kinematics problem with the damped least square method. Finally,through the comparison with the classical RRT algorithm,the effectiveness of the proposed algorithm is illustrated by numerical simulations of a 6 DOF manipulator.
作者
王本亮
高山
孙宏伟
史东华
Wang Benliang;Gao Shan;Sun Hongwei;Shiuongnua(School of Mathematics and Statistics,Beijing Institute of Technology,Beijing 100081,China;Beijing Key Lab on Mathematical Characterization,Analysis,and Applications of Complex Information,Beijing 100081,China;The 716th Research Institute,China Shipbuilding Industry Corporation,Lianyungang 222006,China)
出处
《动力学与控制学报》
2018年第5期391-396,共6页
Journal of Dynamics and Control
关键词
反应规划
机械臂
回转力
阻尼最小二乘法
RRT
reaction planning
manipulator
gyroscopic force
damped least squares method
RRT
