基于相对雅可比法的双臂协同避障运动控制

Motion Control of Dual-arm Collaborative Obstacle Avoidance Based on Relative Jacobian Method

目的针对双机械臂系统在包装作业环境中的控制,提出1种具有实时避障功能的双臂协作算法。方法根据双臂相对位置关系求得相对雅可比矩阵,从而控制双臂末端的相对位姿,以达到双臂协作的效果。同时,该算法利用了双机械臂形成的冗余度特性对其进行自主运动规划,双臂构型根据障碍物位置与双臂相对位置进行实时调整,实现零空间避障的效果。之后建立双机械臂仿真对算法进行验证。结果双臂在执行协作任务的过程中,机械臂与障碍物的距离>0.18 m,双臂之间距离>0.25 m。该方法不仅确保了双臂协作时的无碰撞运动,还充分利用了每个机械臂的冗余自由度,从而提高了机械臂运动的灵活性,且运行速度平稳、无较大突变。结论采用所提出的双臂协同避障算法,可实现双臂协作时的无碰撞功能,对于包装作业等复杂环境下有一定应用价值。

The work aims to propose a dual-arm collaboration algorithm with real-time obstacle avoidance function to ensure the safe operation of dual robotic arm system in packaging operation environment.Firstly,the relative Jacobian matrix was obtained according to the relative position relationship of the dual arms,so as to control the relative position of the end of the dual arms to achieve the effect of dual-arm collaboration.At the same time,the algorithm utilized the redundancy characteristic formed by the dual robotic arms to carry out autonomous motion planning,and the dual-arm configuration was adjusted in real time according to the position of the obstacle and the relative position of the dual arms to achieve the effect of zero-space obstacle avoidance.The algorithm was then verified by establishing a dual robotic arm simulation.When dual arms were performing collaborative tasks,the distance between the robotic arms and obstacles was greater than 0.18 m,and the distance between the dual arms was greater than 0.25 m.This method not only realized collision-free motion of the dual arms,but also maximized the use of redundant degrees of freedom of each mechanical arm,improving the flexibility of motion and optimization space,and achieving operation at a smooth speed without large sudden changes.The dual-arm collaboration obstacle avoidance algorithm proposed can realize the collision-free function of dual-arm collaboration,which has certain application value in complex environments such as packaging operations.