冗余机器人的双向自运动路径规划

冗余机器人的自运动路径规划是在保持手端任务向量不变的情况下,在关节空间内寻找一条连接机器人初始关节构形和期望关节构型的几何路径.本文给出一种双向自运动路径规划算法,其基本思想是使位于初始关节构形的真实机器人和位于期望关节构形的虚拟机器人在自运动流形上运动并收敛到同一关节构形,从而得到一条连接初始和期望关节构形的自运动几何路径.该算法克服了以往算法容易陷入局部极小构形的缺陷.仿真结果证实了算法的有效性.

Bi-directional self-motion path planning of redundant manipulators

The self-motion path planning of redundant manipulators aims to seek a geometric path connecting an initial joint configuration and a desired joint configuration while keeping the end-effector's task variables unchanged.A bi-directional self-motion path-planning scheme was proposed for redundant manipulators in this work.The basic idea of the proposed scheme was to drive the real manipulator in the initial joint configuration and the virtual manipulator in the desired joint configuration to move in the self-motion manifold and converge to the same joint configuration, thus producing a geometric path connecting the initial joint configuration and the desired joint configuration.The proposed scheme is superior to previous ones as it is not inclined to fall into the local minimum joint configuration.Simulation results show the effectiveness of the proposed path-planning scheme.