9-DOF超冗余机器人轨迹规划优化算法

doi:10.13190/jbupt.200802.20.095

北京邮电大学学报 ›› 2008, Vol. 31 ›› Issue (2): 20-25.doi: 10.13190/jbupt.200802.20.095

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

北京邮电大学自动化学院, 北京 100876

收稿日期:2007-06-08 修回日期:1900-01-01 出版日期:2008-04-28 发布日期:2008-04-28
通讯作者: 贾庆轩

Research on the Optimal Algorithm for Trajectory Planning of a 9-DOF Hyper-Redundant Robot

JIA Qing-xuan, CHU Ming, SUN Han-xu, HONG Lei

School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China

Received:2007-06-08 Revised:1900-01-01 Online:2008-04-28 Published:2008-04-28
Contact: JIA Qing-xuan

摘要/Abstract

摘要：

以太空舱内机器人系统9-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。

关键词: 超冗余, 避关节极限, 容错, 轨迹规划, 优化

Abstract:

Aimed at 9-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 limits, fault-tolerance, trajectory planning, optimal

中图分类号:

TP242.3

贾庆轩, 褚明, 孙汉旭, 洪磊. 9-DOF超冗余机器人轨迹规划优化算法[J]. 北京邮电大学学报, 2008, 31(2): 20-25.

JIA Qing-xuan, CHU Ming, SUN Han-xu, HONG Lei. Research on the Optimal Algorithm for Trajectory Planning of a 9-DOF Hyper-Redundant Robot[J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2008, 31(2): 20-25.

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9-DOF超冗余机器人轨迹规划优化算法

Research on the Optimal Algorithm for Trajectory Planning of a 9-DOF Hyper-Redundant Robot

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