基于LazyPRM算法的工业机械臂动态避障和轨迹规划及协调作业研究

A Dynamic Collision Avoidance and Trajectory Planning and Cooperative Operation Methods Based on the Improved LazyPRM for Industrial Manipulators and Hands

针对6自由度关节串联型工业机械臂在动态作业环境中的实时智能避障问题,首先提出了一种基于改进LazyPRM算法的实时路径规划方法。该方法在传统的LazyPRM算法的基础上,引入了节点代价来对最短路径进行代价评估,通过优先选择最小代价的最短路径来避开发生碰撞的路径;然后通过仿真实验对比了传统的路径规划方法与所提出方法的性能优劣,结果表明所提出的方法满足工业机械臂在动态环境中的实时避障规划要求,避障性能优于传统方法;接着利用五次多项式轨迹插补方法对工业机械臂进行关节空间的轨迹规划,仿真表明:采用五次多项式插补法可以得到平滑的关节角度、角速度及角加速度变化曲线;最后利用装配有五指灵巧手的工业机械臂进行单手和单臂、双手和双臂协调配合,进行抓、夹、插剪、推、锤等作业,仿真实验确认了本文所提方法的有效性。

This paper proposes a real-time path avoidance method based on the improved LazyPRM algorithm for the real-time intelligent obstacle avoidance problem of 6 DOF joint series-type industrial manipulator in dynamic working environment.Based on the traditional LazyPRM algorithm,the proposed method introduces the node cost to evaluate the cost of the shortest path,and avoids the collision path by prioritizing the shortest path with the least cost.The traditional path planning method is compared with the proposed method by using the simulations,the performance of the proposed method is better than that of the traditional path planning method,and the experimental results also show that the proposed method satisfies the real-time obstacle avoidance planning requirements of the industrial manipulator in the dynamic environment.This paper also adopts the fifth-order polynomial trajectory interpolation method,the industrial manipulator performs the trajectory planning of the joint space.The simulation results show that the smoother joint angle and angular velocity and angular acceleration curve can be obtained by the fifth-order polynomial interpolation method.In addition,the industrial manipulator equipped with a five-finger dexterous hand is used for one-hand and onemanipulator,two-hand and two-manipulator coordination.The simulations again confirmed the effectiveness of the proposed method in the operations of grasping,clamping,cutting,pushing and hammering.