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论文:2020,Vol:38,Issue(1):183-190 |
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引用本文： |
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朱战霞, 靖飒, 仲剑飞, 王明明. 基于碰撞检测的空间冗余机械臂避障路径规划[J]. 西北工业大学学报 |
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ZHU Zhanxia, JING Sa, ZHONG Jianfei, WANG Mingming. Obstacle Avoidance Path Planning of Space Redundant Manipulator Based on a Collision Detection Algorithm[J]. Northwestern polytechnical university |
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| 基于碰撞检测的空间冗余机械臂避障路径规划 |
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| 朱战霞1,2, 靖飒1,2, 仲剑飞1,2, 王明明1,2 |
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1. 西北工业大学 航天学院, 陕西 西安 710072;
2. 航天飞行动力学技术国家级重点实验室, 陕西 西安 710072 |
| 摘要: |
| 针对障碍环境中自由漂浮模式空间冗余机械臂的路径规划问题进行了研究。首先基于球形包围盒和空间叠加思想简化描述障碍物和机械臂的空间占位关系，采用直线段与球体之间相对位置关系判断是否碰撞的检测方法。然后从正向运动学出发，运用关节参数化方法，把路径规划问题变为带约束的参数优化问题，并考虑基座姿态扰动最小以及碰撞规避建立多项加权的目标函数，通过粒子群优化算法求解最优解，得到机械臂关节运动轨迹。最后以七自由度空间冗余机械臂为例进行仿真，结果表明该方法可以实现有效避障，同时基座姿态受扰很小，关节运动轨迹平滑，且机械臂末端也能够以较高精度达到期望位姿。 |
| 关键词:
空间冗余机械臂
碰撞检测算法
避障路径规划
粒子群优化算法
球形包围盒
空间叠加
数值仿真
运动规划
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| Obstacle Avoidance Path Planning of Space Redundant Manipulator Based on a Collision Detection Algorithm |
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| ZHU Zhanxia1,2, JING Sa1,2, ZHONG Jianfei1,2, WANG Mingming1,2 |
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1. School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China;
2. National Key Laboratory of Aerospace Flight Dynamics, Xi'an 710072, China |
| Abstract: |
| This paper focuses on the path planning of free-floating space redundant manipulator in an environment with obstacles. Firstly, based on the idea of spherical bounding volume and spatial superposition, the spatial occupying relationship between obstacles and manipulators is described in a simpler way. Then the relative position relationship between straight line segment and sphere is used to judge whether a collision between the manipulator and the obstacle. With the principle of forward kinematics, we use the joint parameterization method to transform the path planning problem into a parameter optimization problem with constraints. In this optimization problem, the objective function is a weighted optimization objective function, which includes two terms, the first term describes the base attitude disturbance and the second one is established according to the requirement of avoidance collision. The motion trajectories of the manipulator joints can be obtained by solving the optimization problem using the particle swarm optimization algorithm. We choose a 7-DOF space redundant manipulator for simulation study, and simulation results show the effectiveness of the proposed method, there is no collision between the manipulator and obstacles, and there is no disturbance on the base attitude. What's more, the trajectory of the joint is smooth, which can make the end-effector reach the desired pose with a high accuracy. |
| Key words:
space redundant manipulator
collision detection algorithm
obstacle avoidance path planning
particle swarm optimization
spherical bounding volume
spatial superposition
simulation
motion trajectory
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| 收稿日期: 2019-02-28
修回日期:
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| DOI: 10.1051/jnwpu/20203810183 |
| 基金项目: 国家自然科学基金（61690211，61973256）资助 |
| 通讯作者:
Email： |
| 作者简介: 朱战霞(1973-),女,西北工业大学教授、博士生导师,主要从事飞行器飞行动力学与控制研究。
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