爬缆机器人运动规划的几何优化方法

Geometric Optimization Method for Motion Planning of Cable Climbing Robot

爬缆软体机器人在满足一定的运动约束条件下可以执行一些特定的任务。文章先推导了爬缆软体机器人的可压缩曲率运动学,充分考虑了缆索驱动结构引起的轴向压缩现象。接着研究了在给定几何约束条件下如何针对末端轨迹跟踪任务进行运动规划,包括定向的末端跟踪执行器和避障操纵器等。然后将缆索驱动过程公式转化为阻尼最小二乘优化问题,支持离线的迭代优化计算。通过一系列原型实验对路径规划和轨迹跟踪性能进行了评估。实验结果表明,通过定制化机器人参数,所提出的几何优化方法可以用于在特定任务中对爬缆软体机器人进行运动规划。

The cable climbing soft robot can perform some specific tasks,such as tracking the trajectory in the specified end direction,avoiding obstacles in the environment,through appropriate motion planning under certain constraints.This method derives the compressible curvature kinematics of the cable climbing soft robot,fully considers the axial compression phenomenon caused by the cable driving structure,and studies how to plan the motion of the tip tracking task under the given geometric constraints,including the fix-oriented end effector and obstacle avoidance manipulator.The cable driving process is formulated as a damped least square optimization problem,which supports off-line iterative optimization calculation.The performance of path planning and trajectory tracking is evaluated through a series of prototype experiments.The experimental results show that the method can be used for motion planning of cable climbing soft robot in specific tasks by customizing robot parameters.