• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2018, Vol. 54 ›› Issue (3): 18-25.doi: 10.3901/JME.2018.03.018

• 机构学及机器人 • 上一篇    下一篇

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超冗余度机械臂跟随末端轨迹运动算法及其性能分析

王俊刚1, 汤磊1, 谷国迎1,2, 朱向阳1,2   

  1. 1. 上海交通大学机械与动力工程学院 上海 200240;
    2. 上海交通大学机械系统与振动国家重点实验室 上海 200240
  • 收稿日期:2017-06-20 修回日期:2017-10-31 出版日期:2018-02-05 发布日期:2018-02-05
  • 通讯作者: 谷国迎(通信作者),男,1983年出生,博士,副教授。主要研究方向为软体机器人学、精密运动控制技术。E-mail:guguoying@sjtu.edu.cn
  • 作者简介:王俊刚,男,1991年出生。主要研究方向为超冗余度机器人运动规划及控制。E-mail:wangxvx@sjtu.edu.cn;汤磊,男,1990年出生,博士研究生。主要研究方向为超冗余度机器人设计、建模及运动规划。E-mail:20090430414@sjtu.edu.cn;朱向阳,男,1966年生,博士,教授,博士研究生导师。主要研究方向为机器人操作规划与控制、生机电一体化系统。E-mail:mexyzhu@sjtu.edu.cn
  • 基金资助:
    国家自然科学基金资助项目(51435010,51622506)。

Tip-following Path Planning and Its Performance Analysis for Hyper-redundant Manipulators

WANG Jungang1, TANG Lei1, GU Guoying1,2, ZHU Xiangyang1,2   

  1. 1. School of Mechanical and Power Engineering, Shanghai Jiao Tong University, Shanghai 200240;
    2. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240
  • Received:2017-06-20 Revised:2017-10-31 Online:2018-02-05 Published:2018-02-05

摘要: 超冗余度机械臂具有大长径比、多自由度、高灵活性等特点。为提升其穿越受限空间的效率,提出一种适用于该机械臂三维空间深腔探测的跟随末端轨迹运动算法。在底座进给运动配合下,机械臂的连杆和关节沿规划路径移动,并使得机械臂与路径曲线偏差尽可能小。为提高算法效率,提出一种迭代步长顺序查找法来实现机械臂的关键点与离散路径曲线快速匹配;为减小路径跟随误差,提出一种线性插值优化方法减小因路径离散处理引起的误差。通过12个关节的超冗余度机械臂的仿真试验,从位置精度、运动平顺性、算法效率三方面对算法性能进行评价。结果表明,在保证路径跟随误差不超过5 μm的情况下,机械臂的运动平顺,单周期计算耗时为1 ms左右。算法适用于空间三维运动,且算法效率满足实时控制要求。

关键词: 超冗余度机械臂, 跟随末端轨迹, 运动规划

Abstract: The hyper-redundant manipulators have the features of large length/diameter ratio, high degree of freedoms and good dexterity. To improve the efficiency of their motion in confined space, a tip-following path planning algorithm is proposed. With the feed motion of the base, the manipulators' links and joints can track a desired path curve, sweeping through a tiny area in a 3D confined space. To enhance the efficiency of the algorithm, an iteratively sequential searching method is proposed for the fast matching between the manipulators' key-points and the path curve. A linear interpolation optimization method is then developed to reduce the path following errors caused by discretization of the path curve. The performance of the algorithm is evaluated in terms of the position accuracy, movement smoothness and calculation efficiency based on the simulation of a hyper-redundant manipulator with 12 joints. The results show that the manipulator accurately follows the desired path with deviations of less than 5 μm, and the average computation time is about 1 ms. The algorithm is suitable for spatial motions and is effective to satisfy the requirements of the real-time control.

Key words: hyper-redundant manipulator, motion planning, tip-following path planning

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