冗余双臂机器人实时协调避碰方法研究

Research on Real-Time Coordinating Collision-Avoidance of Redundant Dual-Arm Robot

对冗余双臂机器人的实时协调避碰规划进行了分析,提出了一种利用杆间最短距离作为避碰距离指标的避碰方法,利用胶囊体包围壳对机器人进行简化建模,然后计算机器人连杆间的最小距离,另外,为了减小障碍物对机器人动作的影响及降低机器人控制运算量,引入了一个权值函数以实现机器人手臂避碰算法的动态规划,通过调整避障运动幅度,提高机器人的避碰效率,在此基础上确立了一种改进的距离函数法。最后通过仿真验证了改进后的距离函数法的有效性及可靠性。

Coordinating collision-avoidance based on real-time motion planning of redundant dual-arm robot was analyzed. A method using the minimum distance between robot links as anticollision distance index is presented. The CBB(capsule bounding box)is applied to modeling robot and calculating the minnimum distance. Besides,in order to decrease theobstacle’s impact on therobot movement and reduce the robot control computation,a weight function is applied to realize dynamic programming of the robot arm anticollision algorithm,by adjusting the movement range of obstacle avoidance,enhance the efficiency of the robotcollision-avoidance. Based on that,an improved distance function is built. Finally,the reliability and effectiveness of the method are manifested by simulation.