NMPC算法下六自由度机械臂避障轨迹规划

Obstacle Avoidance Path Planning for Six Degrees of Freedom Manipulator Based on NMPC Algorithm

针对机械臂在空间避障轨迹规划的需求,提出一种基于NMPC的六自由度机械臂避障轨迹规划算法。与以往的避障算法相比,该避障算法在规避障碍物的同时可以对运动轨迹精度进行控制。首先,建立六自由度机械臂自主防撞最优控制模型。其次,为了保证系统的时效性,对复杂的六自由度机械臂系统进行线性化处理,并且通过剪切搜索的方法来寻找最优解。最后,使其在满足控制约束和轨迹约束的前提下,达到自主避障效果。通过MATLAB对该算法进行仿真验证,结果表明:该方法能够有效地规划出满足机械臂性能要求的无障碍运动轨迹,实现机械臂在动态环境下的防撞控制,有效提高机械臂的运行安全。

In order to meet the needs of spatial obstacle avoidance trajectory planning for the manipulator,a six DOF manipulator obstacle avoidance algorithm based on NMPC was proposed.Compared with the previous obstacle avoidance algorithm,this one allowed trajectory accuracy control while avoiding obstacles.Firstly,an optimal control model of DOF robotic arm autonomous collision prevention was developed.Secondly,the linearization of robotic arm manipulator nonlinear system was used to improve the real-time performance of the system,and the optimal solution was found by cutting and searching.Finally,it could achieve the effect of self-avoidance under the premise of meeting control constrains and trajectory constrains.The algorithm was verified on MATLAB platform.The results show that the method can be used to effectively plan an obstacle-free motion trajectory that meets the performance requirements of the robotic arm,to realize the collision control of the robotic arm in dynamic environment and to improve the operational safety of the robotic arm effectively.