Due to the interrelationship between the base placement of the manipulator and its operation object,it is significant to analyze the accessibility and workspace of manipulators for the optimization of their base locat...Due to the interrelationship between the base placement of the manipulator and its operation object,it is significant to analyze the accessibility and workspace of manipulators for the optimization of their base location.A new method is presented to optimize the base placement of manipulators through motion planning optimization and location optimization in the feasible area for manipulators.Firstly,research problems and contents are outlined.And then the feasible area for the manipulator base installation is discussed.Next,index depended on the joint movements and used to evaluate the kinematic performance of manipulators is defined.Although the mentioned indices in last section are regarded as the cost function of the latter,rapidly-exploring random tree(RRT) and rapidly-exploring random tree*(RRT*) algorithms are analyzed.And then,the proposed optimization method of manipulator base placement is studied by means of simulation research based on kinematic performance criteria.Finally,the conclusions could be proved effective from the simulation results.展开更多
To solve the problems of low efficiency and multi-solvability of humanoid manipulator Cartesian space path planning in physical human-robot interaction,an improved bi-directional rapidly-exploring random tree algorith...To solve the problems of low efficiency and multi-solvability of humanoid manipulator Cartesian space path planning in physical human-robot interaction,an improved bi-directional rapidly-exploring random tree algorithm based on greedy growth strategy in 3D space is proposed.The workspace of manipulator established based on Monte Carlo method is used as the sampling space of the rapidly-exploring random tree,and the opposite expanding greedy growth strategy is added in the random tree expansion process to improve the path planning efficiency.Then the generated path is reversely optimized to shorten the length of the planned path,and the optimized path is interpolated and pose searched in Cartesian space to form a collision-free optimized path suitable for humanoid manipulator motion.Finally,the validity and reliability of the algorithm are verified in an intelligent elderly care service scenario based on Walker2,a large humanoid service robot.展开更多
基金Supported by the National Science and Technology Support Program of China(No.2013BAK03B01)
文摘Due to the interrelationship between the base placement of the manipulator and its operation object,it is significant to analyze the accessibility and workspace of manipulators for the optimization of their base location.A new method is presented to optimize the base placement of manipulators through motion planning optimization and location optimization in the feasible area for manipulators.Firstly,research problems and contents are outlined.And then the feasible area for the manipulator base installation is discussed.Next,index depended on the joint movements and used to evaluate the kinematic performance of manipulators is defined.Although the mentioned indices in last section are regarded as the cost function of the latter,rapidly-exploring random tree(RRT) and rapidly-exploring random tree*(RRT*) algorithms are analyzed.And then,the proposed optimization method of manipulator base placement is studied by means of simulation research based on kinematic performance criteria.Finally,the conclusions could be proved effective from the simulation results.
基金The Key-Area Research and Development Program of Guangdong Province,China(No.2019B010154003)。
文摘To solve the problems of low efficiency and multi-solvability of humanoid manipulator Cartesian space path planning in physical human-robot interaction,an improved bi-directional rapidly-exploring random tree algorithm based on greedy growth strategy in 3D space is proposed.The workspace of manipulator established based on Monte Carlo method is used as the sampling space of the rapidly-exploring random tree,and the opposite expanding greedy growth strategy is added in the random tree expansion process to improve the path planning efficiency.Then the generated path is reversely optimized to shorten the length of the planned path,and the optimized path is interpolated and pose searched in Cartesian space to form a collision-free optimized path suitable for humanoid manipulator motion.Finally,the validity and reliability of the algorithm are verified in an intelligent elderly care service scenario based on Walker2,a large humanoid service robot.
