摘要
为获得机器人机械臂躲避多障碍时的最优路径,研究了多类型障碍物环境下机械臂避障轨迹检测方法。根据笛卡尔空间和机械臂关节空间的关系,对机械臂进行运动学建模;构建障碍物简化模型,将障碍物模型映射到C-空间中,并将机械臂运动简化为一个两关节机械臂的运动,在C-空间内进行障碍物与两关节机械臂的碰撞运算,确定机器人机械臂的移动空间;在移动空间内采用象限判别法改进A^(*)算法,结合贝塞尔曲线路径点平滑优化,检测机器人机械臂在障碍环境下的最佳避障轨迹。实验结果表明:采用该方法对障碍物模型进行C-空间映射,障碍物和机械臂可运动空间醒目,机械臂的避障轨迹检测结果清晰,避障轨迹规划成功率大于98%。
To obtain the optimal path for a robotic arm to avoid multiple obstacles,a method for detecting the obstacle avoidance trajectory of the robotic arm in a multi type obstacle environment is studied.Based on the relationship between Cartesian space and the joint space of the robotic arm,kinematic modeling of the robotic arm is carried out.It constructs a simplified obstacle model and the obstacle model to C-space,simplifies the motion of the robotic arm as a two joint robotic arm,realizes the collision calculations between the obstacle and the two joint robotic arm in C-space to determine the movement space of the robotic arm;This improves A^(*) algorithm using quadrant discrimination method in mobile space.Combined with path point smoothing optimization of Bessel curve,it detects the optimal obstacle avoidance trajectory of the robot robotic arm in obstacle environments.The experimental results show that using this method to perform C-space mapping on the obstacle model,the movable space of the obstacle and the robotic arm is eye-catching,the obstacle avoidance trajectory detection results of the robotic arm are clear,and the success rate of obstacle avoidance trajectory planning is always higher than 98%.
作者
别红玲
周波
Bie Hongling;Zhou Bo(Artificial Intelligent Applications College,Shanghai Urban Construction Vocational College,Shanghai,201415,China;Merchant Marine Academy,Zhejiang Institute of Communications,Zhejiang Hangzhou,311112,China)
出处
《机械设计与制造工程》
2023年第11期43-48,共6页
Machine Design and Manufacturing Engineering
基金
新一代人工智能技术应用交通运输行业研发中心开放基金(202102H)。
关键词
多障碍物环境
机械臂
避障轨迹
C-空间
改进A^(*)算法
multi-obstacle environment
mechanical arm
obstacle avoidance path
C-space
improved A^(*) algorithm
