摘要
超冗余机器人的众多冗余自由度允许它在非结构化的工作环境中灵活运动,这将使得超冗余机器人能够在航天勘探、军事侦察以及医学检测等复杂任务中发挥出传统机器人无法承担的重要作用.目前对超冗余机器人轨迹规划方式的研究较少,尤其是超冗余机器人避障轨迹规划方面.针对超冗余机器人避障轨迹规划问题,首先阐述超冗余机器人运动学逆解与超冗余机器人轨迹规划之间的关系以及轨迹规划的方式.随后列举并探讨超冗余机器人避障轨迹规划的算法,包括局部避障规划算法、全局避障规划算法以及结合智能算法的避障规划,并对这些算法所存在的问题进行分析.最后对超冗余机器人轨迹规划的未来发展方向进行展望.
The redundant degrees of freedom of the hyper-redundant robot allow it to move flexibly in the unstructured working environment,which will enable the hyper-redundant robot to play an important role in space exploration,military reconnaissance,medical detection,and other complex tasks that cannot be performed by traditional robots.At present,a complete system has not been formed for the classification of trajectory planning methods of hyper-redundant robots,especially in the area of obstacle avoidance trajectory planning.To solve the obstacle avoidance trajectory planning problem of the hyper-redundant robot,the relationship between the inverse kinematics and trajectory planning of a hyper-redundant robot and the way of trajectory planning is firstly discussed.Then,the algorithm of hyper-redundant robot obstacle avoidance trajectory planning is listed and discussed,including local obstacle avoidance planning algorithm,global obstacle avoidance planning algorithm,and obstacle avoidance planning combined with the intelligent algorithm,and the existing problems of these algorithms are analyzed.Finally,the future development direction of trajectory planning for hyper redundant robots is presented.
作者
田溢汕
李佳轩
宋峰峰
赵永杰
TIAN Yishan;LI Jiaxuan;SONG Fengfeng;ZHAO Yongjie(Department of Mechatronics Engineering,Shantou University,Shantou 515063,Guangdong,China;Zhejiang Shusi Robot Co.Ltd,Huzhou 313000,Zhejiang,China)
出处
《汕头大学学报（自然科学版）》
2023年第1期23-34,共12页
Journal of Shantou University：Natural Science Edition
基金
广东省重大科技专项(2020ST004)
佛山市科技创新团队专项项目资助(2018IT100052)。
关键词
超冗余机器人
逆运动学
轨迹规划
避障规划
hyper-redundant robot
inverse kinematics
trajectory planning
obstacle avoidance planning
