机械科学与技术2018，Vol.37Issue(1)：24-29,6.DOI:10.13433/j.cnki.1003-8728.2018.0105
冗余机器人的任务优先级轨迹规划方法
An Approach for Task Priority Trajectory Planning of Redundant Robots
摘要
Abstract
When the arm end of the manipulator moves along the desired trajectory,if some obstacles affect movement of the end,it makes ann deviating from the expected trajectory,even the end maybe be clashed with obstacles.Aiming at this problem,a new method of trajectory planning task priority is put forward in this paper,in which the end of the manipulator can avoid the obstacle and continue to track the desired trajectory.So as to realize the priority transformation between the obstacle avoidance motion and trajectory tracking,when the end of the manipulator trajectory appears obstacles,give priority control to obstacle avoidance movement.Through calculating the terminal position increment makes the arm end effecter produces escape velocity,thus avoiding obstacles;Conversely,giving trajectory tracking as priority control.Based on the desired trajectory and the actual manipulator position error control,which achieve the goal of improving the terminal trajectory tracking precision.Finally,simulation and test verification have been done for the redundant robots.Results show that when the barrier and mechanical arm terminal trajectory are conflict,the trajectory planning method based on task priority can make the end of manipulator effectively avoiding obstacles.At the same time,the arm can still track the desired trajectory after obstacle avoidance.关键词
冗余机器人/任务优先级/避障/轨迹跟踪Key words
redundant robot/task priority/obstacle avoidance/trajectory tracking分类
信息技术与安全科学引用本文复制引用
高涵,张明路,张小俊,胡平..冗余机器人的任务优先级轨迹规划方法[J].机械科学与技术,2018,37(1):24-29,6.基金项目
国家高技术研究发展计划(863计划)项目(2015AA043101)资助 （863计划）
