一种可移动检测机器人站位规划策略

A Base Position Planning Strategy for a Mobile Inspection Robot

针对大型舱体舱外有效载荷支架检测过程中机器人站位难以确定的问题,提出一种规划策略。首先,结合机器人正运动学构建检测环境的数学模型,分别从舱体轴向与径向初步划分工作区域。然后,基于遗传算法(GA)优化检测视点次序并对工作区域栅格化处理,结合工作区域内对应视点位姿信息及关节转角约束,通过机器人逆运动学求得满足约束条件站位。最后,考虑不同关节转角误差对机器人末端精度和机器人运行过程安全性的影响,对检测过程各关节角度变化方差加权处理并构造优化函数。通过算例验证了所构建的模型及方法的可行性,结果表明该策略能够得到满足检测需求的优化站位。

Aiming at the problem that the robot base position is difficult to be identified during the inspection process for outboard brackets,a planning strategy is proposed. Firstly,the mathematical model of the inspection environment is constructed based on the forward kinematics of the robot,and the working area is divided from the axial and radial directions. Afterwards,based on the genetic algorithm（ GA）,the order of the viewpoints is optimized and the working area is rasterized. In view of the position and orientation information of the corresponding viewpoints in the working area and the joint corner constraint,the constrained base positions are obtained by the robot inverse kinematics. Finally,considering the influence of the different joint rotation errors on the robot end precision and the safety of the robot working process,the variance of each joint angle of the inspection process is weighted and the optimization function is constructed. A practical case is illustrated to prove the efficiency and validity of the proposed method.