申浩宇,吴洪涛,陈 柏,严 铖,蒋延杰.冗余度双臂机器人协调避障算法[J].农业机械学报,2015,46(9):356-361.
Shen Haoyu,Wu Hongtao,Chen Bai,Yan Cheng,Jiang Yanjie.Obstacle Avoidance Algorithm for Coordinated Motion of Redundant Dual-arm Robot[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(9):356-361.
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冗余度双臂机器人协调避障算法   [下载全文]
Obstacle Avoidance Algorithm for Coordinated Motion of Redundant Dual-arm Robot   [Download Pdf][in English]
投稿时间:2014-11-26  
DOI:10.6041/j.issn.1000-1298.2015.09.052
中文关键词:  冗余度双臂机器人 避障 自运动 协调操作
基金项目:国家自然科学基金资助项目(51375230)和江苏省科技支撑计划重点资助项目(BE2013003-1、BE2013010-2)
作者单位
申浩宇 南京航空航天大学 
吴洪涛 南京航空航天大学 
陈 柏 南京航空航天大学 
严 铖 南京航空航天大学 
蒋延杰 南京航空航天大学 
中文摘要:针对冗余度双臂机器人协调操作的避障规划问题,提出了一种基于自运动特性的避障算法。引入用于描述协调操作任务的绝对位姿变量和相对位姿变量,构造出对应于协调操作任务的雅可比矩阵,在此基础上,得到了用于避障的冗余度双臂机器人运动学逆解,使得冗余度双臂机器人能够同时完成两个机械臂的避障任务和末端的协调操作任务。最后,通过对一个冗余度双臂机器人的仿真试验,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0.015m,并且机器人可以准确地完成末端的协调操作任务,关节运动连续、平稳。
Shen Haoyu  Wu Hongtao  Chen Bai  Yan Cheng  Jiang Yanjie
Nanjing University of Aeronautics and Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing University of Aeronautics and Astronautics and Nanjing University of Aeronautics and Astronautics
Key Words:Redundant dual arm robot Obstacle avoidance Self motion Coordinated motion
Abstract:To deal with the problem of obstacle avoidance for redundant dual arm robot, an obstacle avoidance algorithm based on self motion was presented. In order to fully describe a cooperative task for a dual arm robot system, this allows a straightforward description of general coordinated motion in terms of meaningful absolute and relative variables. The proposed Jacobians were expressed in terms of the Jacobians of the single manipulators. Based on this, the kinematics inverse solution of redundant dual arm robot used to avoid obstacles was obtained. Using this approach, the robot can accomplish the coordinated motion tasks while avoiding the obstacles. Finally, the validity of the algorithm was manifested by simulation of a redundant dual arm robot. Results show that the closest distance between the manipulator and the obstacle was more than 0.015m, while the end effector of the robot can accomplish the coordinated motion tasks accurately and the path was smooth. As a conclusion, the redundant robot can not only realize the obstacle avoidance, but also accomplish the coordinated motion using the proposed approach.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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