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在冗余度机器人的避障规划问题中,当障碍影响机器人末端运动时,避障运动和机器人的末端轨迹跟踪运动会发生相互冲突.针对这个问题,提出了基于主从任务转化的避障算法.该方法将避障运动的操作空间定义为1维的运动空间,引入了2个转换变量,可以根据得到的实时最小距离的变化,实现机器人末端的轨迹跟踪运动和避障运动之间光滑连续的优先级转换.最后,通过对一个3自由度平面机器人的仿真实验,对算法的正确性进行了验证.结果表明,机器人与障碍物的最近距离大于0.02m,并且机器人末端可以准确地到达目标位置.所提出的方法不仅能实现冗余度机器人的避障,而且能防止任务之间的冲突.
In the obstacle avoidance planning of redundant robots, obstacle avoidance and end-of-path trajectory of robots collide with each other when the obstacle affects the movement of robot end. To solve this problem, an obstacle avoidance algorithm based on the transformation of master-slave tasks is proposed. The method defines the operation space of obstacle avoidance as a one-dimensional motion space and introduces two transformation variables. According to the obtained real-time minimum distance variation, the method can realize the smooth and continuous between the trajectory tracking motion and the obstacle avoidance motion at the end of the robot Finally, the correctness of the algorithm is verified through a three-degree-of-freedom planar robot simulation.The results show that the robot’s closest distance to the obstacle is more than 0.02m, and the end of the robot can accurately reach the target position The proposed method can not only avoid redundancy of redundant robots but also prevent conflict between tasks.