基于二分试探的平面冗余机械臂碰撞检测与避障

doi:10.3901/JME.2023.01.113

机械工程学报 ›› 2023, Vol. 59 ›› Issue (1): 113-122.doi: 10.3901/JME.2023.01.113

扫码分享

基于二分试探的平面冗余机械臂碰撞检测与避障

张建华¹, 任宝珍², 赵岩¹, 徐永强², 刘璇²

1. 北京科技大学机械工程学院北京 100083;
2. 河北工业大学机械工程学院天津 300130

收稿日期:2022-04-17 修回日期:2022-12-02 出版日期:2023-01-05 发布日期:2023-03-30
通讯作者: 赵岩(通信作者),男,1988年出生,博士,讲师。主要研究方向为智能机器人技术。E-mail:zhaoyan-0312@hotmail.com
作者简介:张建华,男,1979年出生,博士,教授,博士研究生导师。主要研究方向为智能机器人技术、超精密加工。E-mail:eaglezcfx@163.com;任宝珍,男,1998年出生,硕士研究生。主要研究方向为协作机器人。E-mail:renbaozhenlut@163.com;徐永强,男,1993年出生,硕士研究生。主要研究方向为协作机器人。E-mail:xuyongqiang99@163.com;刘璇,女,1980年出生,博士,副教授。主要研究方向为协作机器人。E-mail:xuaner1007@163.com
基金资助:
天津市自然科学基金（19JCJQJC61600）、河北省自然科学基金（F2020202051）、国家自然科学基金（62003128）和河北省博士后科研项目择优（B2020003020）资助项目。

Collision Detection and Obstacle Avoidance of Planar Redundant Manipulator based on Dichotomous Heuristic

ZHANG Jianhua¹, REN Baozhen², ZHAO Yan¹, XU Yongqiang², LIU Xuan²

1. School of Mechanical Engineering, Beijing University of Science and Technology, Beijing 100083;
2. School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130

Received:2022-04-17 Revised:2022-12-02 Online:2023-01-05 Published:2023-03-30

摘要/Abstract

摘要： 针对协作机械臂与未知环境安全交互问题，提出基于二分试探的平面冗余机械臂碰撞位置检测与虚拟碰撞空间估计方法，基本思想为碰撞臂杆绕选定二分点旋转微小角位移，期间根据关节电流信息判断是否发生进一步碰撞，从而确定碰撞位置所处二分区间，以此迭代试探缩小碰撞位置估计误差至可接受范围。建立冗余机械臂碰撞臂杆以选定二分点为不动点的逆运动学模型，解决机械臂二分试探运动控制问题；通过简化改进二阶前馈外力观测器，建立基于关节电流的快速碰撞检测算法；根据碰撞位置与碰撞臂杆位姿信息，建立基于包络法的虚拟碰撞空间模型，以近似表征障碍物空间信息。仿真与实验结果表明，所提出的基于二分试探的碰撞位置检测与虚拟碰撞空间估计方法，可为主从任务转化闭环控制避障算法提供有效的障碍物信息，实现平面冗余机械臂安全避障，提高协作机械臂与环境交互安全性。

关键词: 冗余机械臂, 二分试探, 碰撞检测, 安全避障

Abstract: Focusing on the issue of security interaction between collaborative robot arm and unknown environment, a dichotomous heuristic (DH) based method of collision position (CP) detection and virtual collision space (VCS) estimation for planar redundant robot arm (PRRA) is proposed. Its basic idea is that rotate the the collision lever with a small angular displacement around the selected equinox, during which further collision is judged according to the joint current information, so as to determine the interval of the collision position. Through iterative trials, the CP detection error can be reduced to an acceptable level. In order to solve the PRRA motion control during DH, the inverse kinematics model with the selected equinox as a fixed point is established. A fast collision detection algorithm based on joint current information is developed by simplifying and improving the second-order feed-forward external force observer. According to the CP information and collision lever pose, an envelope-method-based VSC model is established to approximate the obstacle spatial information. Simulational and experimental results show that the proposed DH based method of CP detection and VCS estimation can provide effective obstacle information for the master and slave tasks transformation-based close-loop-control obstacle avoidance algorithm, so as to realize the safety obstacle avoidance of the PRRA and improve the interaction safety between the cooperative robot arm and the environment.

Key words: redundant robot arm, dichotomous heuristic, collision detection, safe obstacle avoidance

中图分类号:

TP242

张建华, 任宝珍, 赵岩, 徐永强, 刘璇. 基于二分试探的平面冗余机械臂碰撞检测与避障[J]. 机械工程学报, 2023, 59(1): 113-122.

ZHANG Jianhua, REN Baozhen, ZHAO Yan, XU Yongqiang, LIU Xuan. Collision Detection and Obstacle Avoidance of Planar Redundant Manipulator based on Dichotomous Heuristic[J]. Journal of Mechanical Engineering, 2023, 59(1): 113-122.

参考文献

[1] PEDROCCHI N, VICENTINI F, MALOSIO M, et al. Safe human-robot cooperation in an industrial environment[J]. International Journal of Advanced Robotic System, 2013, 10:1-13.
[2] FABER M, BUTZLER J, SCHLICK C M. Human-robot cooperation in future production systems:Analysis of requirements for designing an ergonomic work system[J]. Procedia Manufacturing, 2015, 3:510-517.
[3] ALI M H, AIZAT K, YERKHAN K, et al. Vision-based robot manipulator for industrial applications[J]. Procedia Computer Science, 2018, 133:205-212.
[4] SREEKUMAR M. A robot manipulator with adaptive fuzzy controller in obstacle avoidance[J]. Journal of The Institution of Engineers (India):Series C, 2016, 97:469-478.
[5] ALBERT P, PERE R, DINA Y, et al. 3D laser scanner for underwater manipulation[J]. Sensors, 2018, 18(4):1086-1104.
[6] LOU Y, WEI J, SONG S. Design and optimization of a joint torque sensor for robot collision detection[J]. IEEE Sensors Journal, 2019, 19(16):6618-6627.
[7] HADDADIN S, LUCA A D, ALBUSCHAFFER A. Robot collisions:a survey on detection, isolation, and identification[J]. IEEE Transactions on Robotics, 2017, 99:1-21.
[8] SHARKAWY A N, KOUSTOUMPARDIS P, ASPRAGATHOS N A. Human-robot collisions detection for safe human-robot interaction using one multi-input-output neural network[J]. Soft Computing, 2019, 24(9):6687-6719.
[9] ABDULLAH M, BERNARD S, LIHUI W. Active collision avoidance for human-robot collaboration driven by vision sensors[J]. International Journal of Computer Integrated Manufacturing, 2017, 30(9):970-980.
[10] 季旭全, 王君臣, 赵江池, 等. 基于机器人与视觉引导的星载设备智能装配方法[J]. 机械工程学报, 2018, 54(23):77-86. JI Xuquan, WANG Junchen, ZHAO Jiangchi, et al. Intelligent robotic assembly method of spaceborne equipment based on visual guidance[J]. Journal of Mechanical Engineering, 2018, 54(23):77-86.
[11] HALME R, LANZ M, et al. Review of vision-based safety systems for human-robot collaboration[J]. Procedia CIRP on Manufacturing Systems, 2018, 72(1):111-116.
[12] PEREZ L, RODRIGUEZ I. Robot guidance using machine vision techniques in industrial environments:a comparative review[J]. Sensors, 2016, 16(3):335-361.
[13] LU S, CHUNG J H, VELINSKY S A. Human-robot collision detection and identification based on wrist and base force/torque sensors[C]//IEEE International Conference on Robotics and Automation, IEEE, 2006:18-22.
[14] LOU Y, WEI J, SONG S. Design and optimization of a joint torque sensor for robot collision detection[J]. IEEE Sensors Journal, 2019, 19(16):6618-6627.
[15] LEE S D, KIM Y L, SONG J B. Novel collision detection index based on joint torque sensors for a redundant manipulator[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, 2014:3-7.
[16] HUGHES D, LAMMIE J, CORRELL N. A robotic skin for collision avoidance and affective touch recognition[J]. IEEE Robotics and Automation Letters, 2018, 3(3):970-980.
[17] ZHAN Zhaoyao, LIN Rongzhou, TRAN Van-thai, et al. Paper/Carbon nanotube-based wearable pressure sensor for physiological signal acquisition and soft robotic skin[J]. ACS Applied Materials and Interfaces, 2017, 9(43):37921-37928.
[18] LIANG Jiale, WU Jiahao, HUANG Hailin, et al. Soft sensitive skin for safety control of a nursing robot using proximity and tactile sensors[J]. IEEE Sensors Journal, 2020, 20(7):3822-3830.
[19] TAKAKURA S, MURAKAMI T, OHNISHI K. An approach to collision detection and recovery motion in industrial robots[C]//15th Annual Conference of IEEE Industrial Electronics Society. Philadelphia:IEEE, 1989, 2:421-426.
[20] MURAKAMI T, YU F. Torque sensorless control in multidegree-of-freedom manipulator[J]. IEEE Transactions on Industrial Electronics, 1993, 40(2):259-265.
[21] JE H W, BAEK J Y, HEE M C. Current based compliance control method for minimizing an impact force at collision of service robot arm[J]. International Journal of Precision Engineering and Manufacturing, 2011, 12(2):251-258.
[22] 张建华, 张垚楠, 赵岩, 等. 一种机械臂试探感知的避障方法:中国, 110696000A[P]. 2020-01-17. ZHANG Jianhua, ZHANG Yaonan, ZHAO Yan, et al. An obstacle avoidance method for exploratory perception of manipulator:China, 110696000A[P]. 2020-01-17.
[23] HE S, YE J, LI Z, et al. A momentum-based collision detection algorithm for industrial robots[C]//2015 IEEE International Conference on Robotics and Biomimetics. IEEE, 2015:1253-1259.
[24] 张建华, 蔡灿, 刘璇, 等. 基于二阶前馈外力观测器的机械臂碰撞策略[J]. 计算机集成制造系统, 2019, 25(7):1775-1783. ZHANG Jianhua, CAI Can, LIU Xuan, et al. Manipulator collision strategy based on second-order feedforward external force observer[J]. Computer Integrated Manufacturing System, 2019, 25(7):1775-1783.
[25] 颜晗, 王晓撰, 刘智光, 等. 在人机协作中基于动量观测和优化算法的全机械臂单点接触信息实时估计[J]. 机器人, 2018, 40(4):393-400. YAN Han, WANG Xiaozhuan, LIU Zhiguang, et al. Real-time estimation of single-point contact information of all-mechanical arm based on momentum observation and optimization algorithm in human-computer[J]. Robot, 2018, 40(4), 393-400.
[26] LUCA A D, MATTONE R. Sensorless robot collision detection and hybrid force/motion control[C]//IEEE International Conference on Robotics and Automation, IEEE, 2005:999-1004.
[27] WEI Yanhui, JIAN Shengqi, HE Shuang, et al. General approach for inverse kinematics of nR robots[J]. Mechanism and Machine Theory, 2014, 75, 97-106.
[28] 赵京, 龚世秋, 张自强. 7自由度拟人臂仿人运动的逆运动学解析解[J]. 机械工程学报, 2018, 54(21):25-32. ZHAO Jing, GONG Shiqiu, ZHANG Ziqiang. Analytical inverse kinematics of anthropomorphic movements for 7-DOF humanoid manipulators[J]. Journal of Mechanical Engineering, 2018, 54(21):25-32.
[29] 张建华, 胡平, 张小俊, 等. 基于主从任务转化的闭环控制避障算法[J]. 机械工程学报, 2017, 53(1):21-28. ZHANG Jianhua, HU Ping, ZHANG Xiaojun, et al. Closed loop control algorithm for obstacle avoidance based on the transformation of master and slave tasks[J]. Journal of Mechanical Engineering, 2017, 53(1):21-28.

基于二分试探的平面冗余机械臂碰撞检测与避障

Collision Detection and Obstacle Avoidance of Planar Redundant Manipulator based on Dichotomous Heuristic

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 10

编辑推荐

Metrics

本文评价

[1]	杨晓航, 赵智远, 李云涛, 徐梓淳, 赵京东. 基于可操作度优化的冗余机械臂逆运动学求解方法[J]. 机械工程学报, 2024, 60(7): 22-33.
[2]	石建平, 徐永驰, 古训, 陈冬云. 面向冗余机械臂逆运动学问题的人工蜂群算法改进[J]. 机械工程学报, 2024, 60(15): 60-70.
[3]	张英, 冯征征, 李剑, 魏世民, 廖启征. 基于CGA的7自由度冗余机械臂逆运动学臂型角参数化方法[J]. 机械工程学报, 2023, 59(23): 68-75.
[4]	吴志伟, 王博文, 闫磊, 徐文福. 绳驱7自由度仿人机械臂设计及其刚度建模与性能分析[J]. 机械工程学报, 2023, 59(17): 17-32.
[5]	钟献有, 王鹤霖, 刘成菊, 陈启军. 基于最小运动变换的臂角参数化冗余机械臂逆运动学求解方法[J]. 机械工程学报, 2023, 59(15): 40-49.
[6]	李锦龙, 刘传耙, 孙涛, 张弢, 连宾宾, 宋轶民. 面向并联骨折手术机器人的复位轨迹自动式规划方法[J]. 机械工程学报, 2022, 58(5): 26-33.
[7]	赵智远, 赵京东, 赵亮亮, 杨晓航, 刘宏. 求解SSRMS构型空间机械臂逆运动学的方法[J]. 机械工程学报, 2022, 58(3): 21-35.
[8]	贾计东, 张明路. 人机安全交互技术研究进展及发展趋势[J]. 机械工程学报, 2020, 56(3): 16-30.
[9]	王志斌;刘检华;刘佳顺;宁汝新. 面向电缆虚拟装配仿真的多分支弹簧质点模型[J]. , 2014, 50(3): 174-183.
[10]	丑武胜;吴忠;王田苗;张启先. 冗余机械臂运动奇异性分析[J]. , 2000, 36(9): 33-36.