基于避障准则的双臂手移动机器人桁架内运动规划

针对桁架内移动的避障要求,研究双臂手移动机器人桁架内运动的规划方法。基于状态空间模型提出直角坐标空间下的六面心、八边心和八顶点搜索算法,避免了C空间内复杂度呈几何级数增长的问题,实现了末端无碰撞路径搜索。建立双臂手移动机器人三节臂的平面内避障准则,解决了机器人在桁架内运动时机器人臂与桁架杆的碰撞问题。根据平面内避障准则和臂形标志,求得了各个关节角的解析解,解决了数值解的不封闭问题。每个时刻末端姿态由通用旋转变换公式线性插值得到,在Matlab中仿真双臂手移动机器人桁架内的运动,验证了双臂手移动机器人在桁架内运动时避障方法的可行性。

Obstacle Avoidance Criteria Based Motion Planning for Dual-arm Mobile Robot Moving within Truss

Motion planning approach for dual-arm mobile robot within a truss is studied based on the obstacle avoidance requirements when moving in truss.The collision-free path search algorithm for end-effector in Cartesian coordinate space is proposed based on state-space model,which avoids the problem of complexity growing exponentially in Configuration space(C space) and achieves the requirement of truss bar could either be a target or and obstacle.Obstacle avoidance criteria within the plane for three-arm of dual-arm mobile robot is established,which solves the problem that robot’s arms collide with truss bar when the robot moves in truss space.According to the obstacle avoidance criteria within the plane and arm configurations signs,the analytical solution of each joint angle is obtained,which solves the problem that the numerical solution is not closed.The gesture of end-effector in each moment is interpolated linearly by general rotation transformation formula.Matlab is used to model and simulate the dual-arm mobile robot’s motion in the truss to verify the feasibility of the obstacle avoidance approach for the motion in the truss.