面向动态环境的机械臂避障方法

Obstacle Avoidance Method of Mechanical Arm for Dynamic Environment

针对动态环境避障存在的问题,提出一种轨迹实时规划方法。首先,通过视觉传感器实时监控作业环境,获得动态障碍物的位置信息后,计算得到障碍物的三维坐标。其次,采用卡尔曼滤波处理三维坐标数据,得到当前位置的最优估计值及下一位置的预测值。再次,结合人工势场法,在机械臂末端形成由一个引力和两个斥力组成的人工势场,得到机械臂末端的运动位置。最后,在笛卡尔空间规划轨迹,在CoppeliaSim中建立仿真平台,仿真结果验证了该方法的有效性。

Aiming at the problem of obstacle avoidance in dynamic environment,a real-time trajectory planning method is proposed.Firstly,the visual sensor is used to monitor the operating environment in real time,obtain the position information of dynamic obstacles,and calculate the three-dimensional coordinates of obstacles.Secondly,Kalman filter is used to process the three-dimensional coordinate data to obtain the optimal estimate of the current position and the predicted value of the next position.Thirdly,combined with the artificial potential field method,an artificial potential field composed of one gravitational force and two repulsive forces was formed at the end of the manipulator,and the moving position of the end of the manipulator was obtained.Finally,the trajectory is planned in Cartesian space,and the simulation platform is established in CoppeliaSim.The simulation results verify the effectiveness of the proposed method.