机器人平滑抓取移动物体的运动规划方法

doi:10.3901/JME.2018.19.010

机械工程学报 ›› 2018, Vol. 54 ›› Issue (19): 10-17.doi: 10.3901/JME.2018.19.010

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机器人平滑抓取移动物体的运动规划方法

张驰¹, 尚伟伟¹, 丛爽¹, 刘宜²

1. 中国科学技术大学自动化系合肥 230027;
2. 中国科学院合肥智能机械研究所合肥 230031

收稿日期:2017-11-15 修回日期:2018-01-30 出版日期:2018-10-05 发布日期:2018-10-05
通讯作者: 尚伟伟(通信作者),男,1981年出生,博士,副教授。主要研究方向为并联机器人、仿人机器人、人工智能等。E-mail:wwshang@ustc.edu.cn
作者简介:张驰,男,1993年出生。主要研究方向为机器人抓取移动物体的运动规划。E-mail:jingxizc@mail.ustc.edu.cn;丛爽,女,1961年出生,博士,教授。主要研究方向为量子系统及其控制、先进控制系统及运动控制。E-mail:scong@ustc.edu.cn;刘宜,男,1980年出生,博士,高级工程师。主要研究方向为运动控制、绳索机器人等。E-mail:yliu@iim.ac.cn
基金资助:
国家自然科学基金资助项目（51675501，51275500）。

Motion Planning for Robotic Smooth Catching of Moving Object

ZHANG Chi¹, SHANG Weiwei¹, CONG Shuang¹, LIU Yi²

1. Department of Automation, University of Science and Technology of China, Hefei 230027;
2. Hefei Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031

Received:2017-11-15 Revised:2018-01-30 Online:2018-10-05 Published:2018-10-05

摘要/Abstract

摘要： 结合机器视觉和运动规划方法，对动态环境中移动物体的平滑抓取进行了研究。设计了一种运动物体跟踪算法，能够实现无障碍环境下移动物体的平滑抓取；针对环境中存在动态障碍物的情况，设计了一种基于排斥矢量的动态避障算法，与运动物体跟踪算法相结合，实现了机器人先避障后平滑抓取；基于机器人操作系统（Robot operating system，ROS）框架，在5自由度的KUKA Youbot机械臂平台上实现了无障碍环境下对传送带上物体的平滑抓取，以及动态障碍物环境中的平滑抓取，试验结果验证了所设计算法的优越性。

关键词: 动态避障, 动态环境, 平滑抓取, 物体抓取

Abstract: Using machine vision and motion planning technology, smooth catching of moving object in dynamic environment is studied. A tracking algorithm of moving object is designed to realize the smooth catching in obstacle-free environment. To avoid the moving obstacle in the environment, a collision avoidance algorithm is proposed by using repulsive vector, and then it is combined with the tracking algorithm to finish both obstacle avoidance and smooth pickup of moving object. Based on the robot operating system, several experiments are implemented on a 5-DOF KUKA Youbot robotic manipulator. The manipulator can catch moving object smoothly in the obstacle-free environment and the object in the environment with moving obstacle. The experimental results indicate that both the tracking algorithm and the collision avoidance algorithm are very effective to finish the object catching.

Key words: dynamic environment, moving obstacle avoidance, object grasping, smooth pickup

中图分类号:

TP242

张驰, 尚伟伟, 丛爽, 刘宜. 机器人平滑抓取移动物体的运动规划方法[J]. 机械工程学报, 2018, 54(19): 10-17.

ZHANG Chi, SHANG Weiwei, CONG Shuang, LIU Yi. Motion Planning for Robotic Smooth Catching of Moving Object[J]. Journal of Mechanical Engineering, 2018, 54(19): 10-17.

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机器人平滑抓取移动物体的运动规划方法

Motion Planning for Robotic Smooth Catching of Moving Object

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