基于引力势场的包装机器人自动避障控制方法

Automatic Obstacle Avoidance Control Method of Packaging Robot Based on Gravitational Potential Field

目的为解决自动化包装机器人机械手受到障碍物影响导致避障效果较低的问题,提出自动化包装机器人机械手自主避障方法。方法建立自动化包装机器人行走轨迹运动模型,计算其线速度和角速度,完成自动化包装机器人的运动学分析;利用相邻2个自动化包装机器人之间的引力势场,计算自动化包装机器人所受的合力;设置自动化包装机器人机械手自主避障的状态方程,设计自主避障算法;结合自主避障流程,实现自动化包装机器人机械手的自主避障。结果在U型障碍物路段和H型障碍物路段中设计了对比实验,实验结果表明,提出的自主避障方法无论在哪种类型路段,自动化机器人的工作效率都在75%以上,具有较好的避障效果。结论适用于自动化包装机器人的机械手避障,为自动化包装机器人的研究提供参考。

The work aims to propose an autonomous obstacle avoidance control method for automatic packaging robot manipulator in order to solve the problem of low obstacle avoidance effect caused by the influence of obstacles.The motion model of automatic packaging robot was established,and its linear velocity and angular velocity were calculated.Then,the kinematic analysis of the robot was completed.The resultant force of the robot was calculated by the gravitational potential field between two adjacent automatic packaging robots.The state equation of autonomous obstacle avoidance of the robot manipulator was set up to design the autonomous obstacle avoidance algorithm.Combined with the autonomous obstacle avoidance process,the automatic packaging robot manipulator realized the autonomous obstacle avoidance.A comparative experiment was designed in U-shaped obstacle section or H-type obstacle road section.According to the experimental results,the working efficiency of the automatic robot was more than 75%no matter in which type of road section,and the good obstacle avoidance effect was better.The obstacle avoidance method suitable for automatic packaging robot manipulator provides reference for the research of automatic packaging robot.