留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

移动机械臂无碰抓取方法的研究

杜峰 苏丽颖 焦继乐 曹志强

杜峰, 苏丽颖, 焦继乐, 曹志强. 移动机械臂无碰抓取方法的研究[J]. 机械科学与技术, 2016, 35(4): 535-538. doi: 10.13433/j.cnki.1003-8728.2016.0407
引用本文: 杜峰, 苏丽颖, 焦继乐, 曹志强. 移动机械臂无碰抓取方法的研究[J]. 机械科学与技术, 2016, 35(4): 535-538. doi: 10.13433/j.cnki.1003-8728.2016.0407
Du Feng, Su Liying, Jiao Jile, Cao Zhiqiang. A Method for Collision-free Grasp of Mobile Manipulator[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(4): 535-538. doi: 10.13433/j.cnki.1003-8728.2016.0407
Citation: Du Feng, Su Liying, Jiao Jile, Cao Zhiqiang. A Method for Collision-free Grasp of Mobile Manipulator[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(4): 535-538. doi: 10.13433/j.cnki.1003-8728.2016.0407

移动机械臂无碰抓取方法的研究

doi: 10.13433/j.cnki.1003-8728.2016.0407
基金项目: 

2013年度北京市教委青年拔尖人才培养计划项目与北京工业大学青年导师国际化能力发展计划项目(2014)资助

详细信息
    作者简介:

    杜峰(1989-),硕士研究生,研究方向为机器人学,ifeng125@qq.com

    通讯作者:

    苏丽颖(联系人),副教授,博士,sly@bjut.edu.cn

A Method for Collision-free Grasp of Mobile Manipulator

  • 摘要: 提出了一种基于A*算法的移动机械臂无碰抓取方法。根据机械臂的初始姿态和目标物体的空间位置以及障碍物的约束,利用A*算法规划出机械臂末端无碰的轨迹,进而利用冗余度机械臂多解的特性,结合逆运动学,给出障碍物约束下基于最小关节角偏移量优化指标的关节角优化方法。同时,机械臂可根据当前环境的变化更新其末端轨迹,并相应调整姿态以提高适应性。仿真验证了该算法的有效性。
  • [1] 谭民,徐德,侯增广,等.先进机器人控制[M].北京:高等教育出版社,2007 Tan M, Xu D, Hou Z G, et al. Advanced robot control[M]. Beijing: Higher Education Press, 2007 (in Chinese)
    [2] Guan X Q, Wang J D. Trajectory planning theory and method of industrial robot[C]//Proceedings of 2011, 3rd International Conference on Computer Research and Development. Shanghai: IEEE, 2011,2:340-343
    [3] Furuno S, Yamamoto M, Akira M. Trajectory planning of cooperative multiple mobile manipulators[C]//Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems. Las Vegas, Nevada: IEEE, 2003,1:136-141
    [4] 谢乃流,陈劲杰,石岩.基于六自由度机械臂的轨迹规划[J].机械制造与自动化,2011,40(1):141-144 Xie N L, Chen J J, Shi Y. Trajectory project based on 6-DOF manipulator[J]. Machine Building & Automation, 2011,40(1):141-144 (in Chinese)
    [5] Bailón W P, Cardiel E B, Campos I J, et al. Mechanical energy optimization in trajectory planning for six DOF robot manipulators based on eighth-degree polynomial functions and a genetic algorithm[C]//Proceedings of 2010 7th International Conference on Electrical Engineering Computing Science and Automatic Control. Tuxtla, Gutiérrez: IEEE, 2010:446-451
    [6] 黄洪钟,赵正佳,姚新胜,等.遗传算法原理、实现及其在机械工程中的应用研究与展望[J].机械设计,2000,17(3):1-6 Huang H Z, Zhao Z J, Yao X S, et al. Genetic algorithm principle, realization and their applicational research, prospect in mechanical engineering[J]. Machine Design, 2000,17(3):1-6 (in Chinese)
    [7] Xiao Y Q, Wei D, Du Z J. A time-optimal trajectory planning approach based on calculation cost consideration[C]//Proceedings of 2012 International Conference on Mechatronics and Automation. Chengdu: IEEE, 2012:1845-1850
    [8] 丁汉,熊有伦.冗余度机器人的障碍物躲避[J].华中理工大学学报,1989,17(5):21-25 Ding H, Xiong Y L. Obstacle avoidance for redundant robots [J]. Journal of Huazhong University of Science, 1989,17(5):21-25 (in Chinese)
    [9] Xiong Y L, Ding H. General criterion and control strategy of collision-free movement for manipulators[C]//Proceedings of the 1988 IEEE International Conference on Systems, Man, and Cybernetics. Beijing: IEEE, 1988,2:783-786
    [10] Khatib O. Real-time obstacle avoidance for manipulators and mobile robots[C]//Proceedings of 1985 IEEE International Conference on Robotics and Automation. St. Louis, MO: IEEE, 1985,2:500-505
    [11] 于振中,闫继宏,赵杰,等.改进人工势场法的移动机器人路径规划[J].哈尔滨工业大学学报,2011,43(1):50-55 Yu Z Z, Yan J H, Zhao J, et al. Mobile robot path planning based on improved artificial potential field method[J]. Journal of Harbin Institute of Technology, 2011,43(1):50-55 (in Chinese)
    [12] 杨淮清,肖兴贵,姚栋.一种基于可视图法的机器人全局路径规划算法[J].沈阳工业大学学报,2009,31(2):225-229 Yang H Q, Xiao X G, Yao D. A V-graph based global path planning algorithm for mobile robot[J]. Journal of Shenyang University of Technology, 2009,31(2):225-229 (in Chinese)
    [13] 陈靖波,赵猛,张珩.空间机械臂在线实时避障路径规划研究[J].控制工程,2007,14(4):445-447,450 Chen J B, Zhao M, Zhang H. On-line real-time obstacle avoidance path planning of space manipulator[J]. Control Engineering of China, 2007,14(4):445-447,450 (in Chinese)
    [14] 焦继乐,曹志强,赵鹏,等.基于模糊趋近的移动机械臂目标抓取方法研究[J].华中科技大学学报(自然科学版),2013,4(S1):47-50 Jiao J L, Cao Z Q, Zhao P, et al. An object grasping method based on fuzzy approaching for a mobile manipulator[J]. Journal of Huazhong University of Science and Technology (Natural Science Edition), 2013,4(S1):47-50 (in Chinese)
    [15] 汪首坤,邸智,王军政,等.基于A*进算法的机械臂避障路径规划[J].北京理工大学学报,2011,31(11):1302-1306 Wang S K, Di Z, Wang J Z, et al. Path planning method for manipulator to avoid obstacle based on advanced A* algorithm[J]. Transactions of Beijing Institute of Technology, 2011,31(11):1302-1306 (in Chinese)
  • 加载中
计量
  • 文章访问数:  137
  • HTML全文浏览量:  39
  • PDF下载量:  9
  • 被引次数: 0
出版历程
  • 收稿日期:  2014-05-15
  • 刊出日期:  2016-04-05

目录

    /

    返回文章
    返回