冗余度机器人附加速度避障方法

应用空间解析法建立机器人关节点坐标的数学模型，直接计算出机器人与障碍物的位置关系。提出一种新颖的附加速度方法，当连杆离障碍物的距离小于阈值距离L0时，把机器人与障碍物的距离．映射为对机器人每个连杆与障碍物最近点增加的附加速度。以附加速度的范数作为性能指标．利用冗余度机器人的零空间映射矩阵调整机器人位姿，从而改变机器人与障碍物之间的距离．最终形成一条无碰撞轨迹。通过具有16个自由度的空间三分支机器人的仿真实验，验证此方法的正确性，具有很强的实用性。

Obstacle Avoidance Method Using Addition Velocity for Redundant Robot

By setting up a mathematical model of robot joint point coordinate through space analytic geometry method, the relative position between the robot and the obstacle can be solved. This paper put forward a novel addition velocity method by which the nearest distance between every rod of the robot and the obstacle is mapped to an addition velocity. Regarding the norm of the additional velocity as the performance index, we use the null space mapping matrix to adjust the position and pose of the robot to reduce additional velocity so that the robot keep away from the obstacle. If the robot cannot avoid the obstacle along the end trajectory, the addition velocity can be used to change the end trajectory and form a non-collision trajectory. The correctness and practicability of this method are proved by the simulation experiment of the three branches robot with 16 DOFs.