9-DOF超冗余机器人轨迹规划优化算法.pdfVIP

2008年4月 ADr．2008 第31卷 第2期 Vo1．31 NO．2 文章编号：1007—5321(2008)02—0020—06 9-DOF超冗余机器人轨迹规划优化算法 贾庆轩， 褚 明， 孙汉旭， 洪 磊 盯 (北京邮电大学 自动化学院，北京100876) a 摘要：以太空舱内机器人系统9一自由度(DOF)超冗余模块机器人为研究对象，以避关节极限作为优化指标，考虑容 错性能，利用微分运动的方法，分别提出了适于计算机迭代计算的冗余机器人在笛卡儿空间进行手爪姿态可变时 E U j g 的直线轨迹优化算法和手爪经过空间中任意不共线3点决定的平面内的圆弧轨迹优化算法．在优化算法的验证实 e 京 ～ 验中，实现了利用冗余机器人完成直线轨迹拉抽屉、抓棒料和圆弧轨迹开厨门等动作． 邮 关 键 词：超冗余；避关节极限；容错；轨迹规划；优化 电 中图分类号：TP242．3 文献标识码：A 学 大 旭 S a 学 _呈 Research on the Optimal Algorithm for Traj ectory 报 ∞ Planning of a 9-DOF Hyper-Redundant Robot m ∞ JIA Qing—xuan， CHU Ming， SUN Han—XU， HONG Lei ∞ S (School of Automation，Beijing University of Posts and Te1ec0mmunicati0ns．Beijing 100876．China) Abstract：Aimed at 9一degree of freedom(DOF)hyper—redundant module robot in intra—vehicular robot system，attention is given to the avoiding joint limits as an optimal mark．Two different iterative algorithms considering fault—tolerance for trajectory planning of redundant robot in Cartesian space are then proposed by using the method of differential locomotion．The first algorithm is for linear—path in which the pose of manipulator can be changed，the second is for circular—path in the plane decided by three noncollinear arbitrary points in the space．Experiments on the specimen robot platform are performed to validate the above algorithms．And the hyper—redundant robot’S actions，such as pulling drawers,grapping club—shaped stuff along linear-path and opening doors along circular—path are realized． Key words：hyper—redundance；avoiding joint li