双七自由度臂防碰撞协同控制算法研究

Research on the control system of cooperative work of double seven degrees of freedom arm robot

针对仿人双机械臂协同运动规划中防碰撞的核心问题,提出了一种双冗余机械臂防碰撞算法。建立有向包围盒(OBB)模型,结合基于单纯形退化的改进吉尔伯特-约翰逊-基尔特(GJK)算法,计算包围盒两两之间的距离,依照距离大小判断自碰撞发生的可能性。基于牛顿-辛普森迭代法计算出机械臂满足指定末端位置要求的逆解,然后进行基于包围盒欧氏距离的改良五次多项式插补以生成末端运动轨迹。实验结果表明,该套控制系统可以灵活地进行协同工作,完成包含插拔火炬钥匙、火炬传递相关动作在内的各项任务,且在协同工作过程中可以有效避免发生碰撞。

Aiming at the core problem of anti-collision in the coordinated motion planning of humanoid dual manipulators,an anti-collision algorithm for dual redundant manipulators is proposed.By establishing the oriented bounding box(OBB)bounding box model,combined with the improved Gilbert-Johnson-Keerth(GJK)algorithm based on simplex degradation,the distance between two bounding boxes is calculated,and the possibility of self-collision is judged according to the distance.Based on the Newton-Simpson iteration method,the inverse solution of the manipulator satisfying the specified end position is calculated,and then the modified quintic polynomial interpolation based on the Euclidean distance of the bounding box is performed to generate the end motion trajectory.The experimental results show that the control system can flexibly work together to complete various tasks including inserting and removing the torch key and torch relay related actions,and can effectively avoid collisions during the collaborative work process.