一种零空间避障的机械臂末端轨迹跟踪算法

刘雪飞; 徐向荣; 查文斌; 江杨林; 朱佐君

doi:10.13433/j.cnki.1003-8728.20200457

一种零空间避障的机械臂末端轨迹跟踪算法

doi: 10.13433/j.cnki.1003-8728.20200457

安徽工业大学机械工程学院, 安徽马鞍山 243032

基金项目:

国家重点研发计划项目 2017YFE0113200

详细信息

作者简介:
刘雪飞(1995-), 硕士研究生, 研究方向为机器人运动规划及智能控制, 2653216805@qq.com

通讯作者:
徐向荣, 教授, 博士生导师, xuxr88@yahoo.com

中图分类号: TP242.2
计量
- 文章访问数: 360
- HTML全文浏览量: 61
- PDF下载量: 62
- 被引次数: 0
出版历程
- 收稿日期: 2020-11-17
- 刊出日期: 2021-07-01

A Trajectory Tracking Algorithm of Null Space Obstacle Avoidance for End-effector of Manipulators

School of Mechanical Engineering, Anhui University of Technology, Maanshan 243032, Anhui, China

摘要

摘要: 针对传统的零空间避障方法无法根据障碍物距离提前采取避障行为同时保证末端跟踪精度的问题, 提出一种零空间避障的机械臂末端轨迹跟踪算法。该方法采用伪距离代替欧氏距离作为距离接近度指标解决零空间避障问题, 同时设计一种自适应正定系数矩阵 K 和速度误差饱和函数sat( ė ), 将实时轨迹运行结果反馈给冗余机械臂运动学反解, 根据反馈结果自适应调节关节角速度以减小末端轨迹跟踪误差。采用iiwa14机械臂进行仿真实验, 仿真的结果表明, 所提出的算法能够在完成冗余机械臂零空间避障的同时保证末端轨迹跟踪误差在1 cm以下, 验证了所提算法的有效性和优越性。
- 冗余机械臂 /
- 零空间避障 /
- 轨迹跟踪 /
- 伪距离
Abstract: Aiming at the problem that the traditional null space obstacle avoidance methods cannot take the obstacle avoidance behavior in advance according to the obstacle distance, while ensure the end-effector tracking accuracy, a trajectory tracking algorithm of null space obstacle avoidance for end-effector of manipulators is proposed in this paper. In this algorithm, the pseudo-distance instead of Euclidean distance is first used as the proximity for distance to complete null space obstacle avoidance for manipulators. Then, an adaptive positive definite matrix K and velocity error saturation function sat( ė ) are designed to feedback the results of the real-time trajectory tracking to the inverse kinematics of redundant manipulators; next, according to the results of feedback, the joint angular velocity is adaptively adjusted to minimize the trajectory tracking error of end-effector. The iiwa14 manipulator was employed for the simulation experiment, and the simulation results showed that the proposed algorithm can accomplish the null space obstacle avoidance for redundant manipulator while ensuring the end-effector trajectory tracking error below 1 cm, which verifies the effectiveness and superiority of the proposed algorithm.
- redundant manipulator /
- null space obstacle avoidance /
- trajectory tracking /
- pseudo-distance

HTML全文

图 1 空间点到超二次曲面伪距离三种关系

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图 2 简化计算点的伪距离示意图

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图 3 机械臂最近点与障碍物球面示意图

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图 4 机器人iiwa14的模型和D-H坐标系

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图 5 无避障算法的机械臂连杆运动轨迹

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图 6 无避障算法的最小伪距离变化

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图 7 传统末端轨迹跟踪方法减少误差效果

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图 8 采用本文避障算法的机械臂连杆运动轨迹

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图 9 运动过程中最小伪距离变化

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图 10 机械臂末端轨迹误差

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图 11 机械臂关节角度

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