复杂场景下Baxter机器人的避碰运动规划

Study on Collision Avoidance Motion Planning of Baxter Robot in Complex Scenarios

起始位形和目标状态不变的情况下,Baxter机器人运动规划器每次运行时的规划结果也可能不同。因此,文章将IKFAST分析方法和双向RRT运动规划算法相结合,旨在为Baxter机器人在复杂场景作业中快速规划一条无碰撞路径和轨迹。通过分析IKFAST分析方法的IK求解器与其他数值IK求解器(NR和MLA方法)在运动规划中的性能表现,证明了IKFAST分析方法可以有效提高运动规划性能。

The planning outcome of each run of the Baxter robot motion planner may be different even if the initial configuration and target state are constant.Therefore,the paper combines IKFAST analysis method and bi-directional RRT motion planning algorithm to quickly formulate a collision-free path for Baxter robot in complex scenarios.By comparing and analyzing the performance of IKFAST IK solver and other numerical IK solvers,it is proved that IKFAST analysis method can effectively boost the motion planning performance.