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冗余机器人的任务优先级轨迹规划方法

高涵 张明路 张小俊 胡平

高涵, 张明路, 张小俊, 胡平. 冗余机器人的任务优先级轨迹规划方法[J]. 机械科学与技术, 2018, 37(1): 24-29. doi: 10.13433/j.cnki.1003-8728.2018.0105
引用本文: 高涵, 张明路, 张小俊, 胡平. 冗余机器人的任务优先级轨迹规划方法[J]. 机械科学与技术, 2018, 37(1): 24-29. doi: 10.13433/j.cnki.1003-8728.2018.0105
Gao Han, Zhang Minglu, Zhang Xiaojun, Hu Ping. An Approach for Task Priority Trajectory Planning of Redundant Robots[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(1): 24-29. doi: 10.13433/j.cnki.1003-8728.2018.0105
Citation: Gao Han, Zhang Minglu, Zhang Xiaojun, Hu Ping. An Approach for Task Priority Trajectory Planning of Redundant Robots[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(1): 24-29. doi: 10.13433/j.cnki.1003-8728.2018.0105

冗余机器人的任务优先级轨迹规划方法

doi: 10.13433/j.cnki.1003-8728.2018.0105
基金项目: 

国家高技术研究发展计划(863计划)项目(2015AA043101)资助

详细信息
    作者简介:

    高涵(1991-),博士研究生,研究方向为移动机械臂标定技术,g401416374@163.com

    通讯作者:

    张小俊,教授,硕士生导师,xjzhang@hebut.edu.cn

An Approach for Task Priority Trajectory Planning of Redundant Robots

  • 摘要: 当机械臂末端沿期望轨迹运动时,若障碍物影响机械臂末端运动,则末端会与障碍物发生冲突,使其偏离期望运动轨迹。针对这一问题,提出了一种任务优先级轨迹规划方法,使机械臂末端避障后能够继续跟踪期望轨迹。当机械臂末端运动轨迹中含有障碍物时,赋予避障运动作为优先控制,通过计算末端位置增量使机械臂末端产生逃离速度,进而避开障碍物;反之,赋予轨迹跟踪作为优先控制,通过对机械臂期望轨迹与实际位置进行误差控制,达到提高末端轨迹跟踪精度的目的。最后,对冗余机器人进行了仿真及试验验证。结果表明,当障碍物与机械臂末端运动轨迹发生冲突时,基于任务优先级的轨迹规划方法可以使机械臂末端有效地避开障碍物,同时,末端避障后机械臂仍能跟踪到期望轨迹运动。
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出版历程
  • 收稿日期:  2017-06-02
  • 刊出日期:  2018-01-15

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