机器人操作臂跟踪动态目标的轨迹规划方法

针对机器人操作臂跟踪运动目标问题,提出一种基于遗传算法的轨迹规划方法。通过对关节加速度的增量进行编码,实现在操作臂的关节空间进行轨迹优化,得到操作臂在跟踪运动目标过程中所需要的轨迹。仿真计算的结果表明,所提出的方法是有效的。     

基于改进蚁群算法的六自由度机械臂轨迹规划

为了解决六自由度械臂末端轨迹的平稳性和效率的问题,针对多关节机械臂末端轨迹提出了一种基于改进蚁群算法的多关节机械臂轨迹规划。采用了关节空间轨迹方法包括B样条插值、三次多项式插值和五次多项式插值进行实验分析论证,同时根据改进的蚁群算法对机械臂的轨迹进行规划,对比位置的准确性、轨迹的连续性、加速度的变化率,确定最后的轨迹规划算法为改进的蚁群算法与多项式轨迹规划相结合效果最好。     

基于ROS的六自由度机械臂运动规划

针对传统机器人在复杂环境下的安全问题以及运动规划问题,采用开源机器人操作系统ROS搭建了机器人仿真平台,并进行运动规划。在ROS平台下,利用URDF文件完成机械臂3D建模;利用Movelt配置助手(setup assistant)配置机械臂模型并且生成启动文件。在Rviz中显示三维模型;利用Movelt完成对六自由度机械臂的运动规划,以及避障轨迹规划。结果表明,通过Rqt_plot导出机械臂运动过程中六个关节的位置关系信息,可为进一步改善和研究机械臂轨迹规划提供更加直观的方法。     

工业机器人时间最优轨迹规划及轨迹控制的理论与实验研究

提出了一种用于工业机器人时间最优轨迹规划及轨迹控制的新方法, 它可以确保在关节位移、速度、加速度以及二阶加速度边界值的约束下, 机器人手部沿笛卡尔空间中规定路径运动的时间最短. 在这种方法中, 所规划的关节轨迹都采用二次多项式加余弦函数的形式, 不仅可以保证各关节运动的位移、速度、加速度连续而且还可以保证各关节运动的二阶加速度连续. 采用这种方法, 既可以提高机器人的工作效率又可以延长机器人的工作寿命. 以PUMA 5 6 0机器人为对象进行了计算机仿真和机器人实验, 结果表明这种方法是正确和有效的. 它为工业机器人在非线性运动学约束条件下的时间最优轨迹规划及控制问题提供了一种较好的解决方案.     

基于AGA的时间最优机械臂轨迹规划算法*

根据机械臂运动学约束,提出了关节空间基于自适应遗传算法(AGA)的3-5-3多项式插值轨迹规划算法。利用运动学约束,以最优时间为目标,针对关节型机器人在静态环境下点到点的轨迹规划问题,利用AGA算法解算多项式插值的时间。通过与基于GA的3-5-3多项式机械臂轨迹规划进化曲线和运动位置、速度、加速度曲线对比,证明该方法在算法收敛、运行平稳度上都有突出优点。     

基于GA的时间最优机械臂轨迹规划算法

由于多项式插值轨迹规划具有阶次高、没有凸包性质等特点,传统优化方法难以应用的特点,根据机械臂运动学约束,提出了关节空间基于遗传算法(GA)的3-5-3多项式插值轨迹规划算法。利用运动学约束,以最优时间为目标,针对关节型机器人在静态环境下的点到点的轨迹规划问题,利用GA算法解算多项式插值的时间。通过与基于PSO的3-5-3多项式机械臂轨迹规划运动位置、速度、加速度曲线对比,证明该方法在运行时间和运行平稳度上都有突出优点。     

基于遗传算法的多机器人系统最优轨迹规划

针对关节型多机器人系统在静态环境下的点到点的轨迹规划问题,提出了一种基于遗传算法的最优轨迹规划策略.采用遗传算法在综合考虑各机器人沿轨迹运动的安全性、运动代价以及运动学约束的基础上为单个机器人规划最优的运动轨迹,并通过协调各机器人沿预定轨迹运行的时间避免机器人之间碰撞的发生.针对含有3个二自由度平面关节型机器人的多机器人系统进行了仿真实验,实验结果验证了该方法的有效性.     

基于PSO的空间机械臂轨迹规划技术研究

研究机器人的机械臂轨迹优化问题,空间机器人系统的机械臂和基座之间存在动力学耦合,基座姿态稳定性容易受到机械臂运动的反作用干扰.为了使空间机器人系统的姿态稳定性不受的影响,提出了一种基于PSO(粒子群优化算法)的参数化5-3-5轨迹规划方法.利用PSO的优化能力找到合适的参数组合,进行关节空间轨迹规划.通过对比实验,运用动力学仿真对方法的有效性进行了验证.仿真结果表明,方法规划出的轨迹运动光滑,且按段轨迹运动机械臂对基座姿态的扰动符合预期要求,证明规划轨迹的有效性.     

用高阶多项式插值解决机器人运动轨迹规划中的约束问题

引言机器人运动轨迹轨迹规划就是根据机器人要完成的一定的作业来设计机器人各关节的位移 ,速度和加速度对时间Ｔ的运动规律。机器人的ＰＴＰ(ＰｏｉｎｔＴｏＰｏｉｎｔ)运动所要解决的两个问题是 :一、规划运动轨迹时 ,必须设法避免出现机构的奇异点问题。二、为了让机械手从起始位置到达终点 ,在这之间要经过多少个点 ,在这些中间点之间 ,关节如何运动。Ａｓｐｉｎｗａｌｌ提出脉冲构造方法 ,将机械臂的点位运动控制归结为非线性两点边值问题求解 ,Ｊａｎｋｏｗｓｋｉ引入逆系统方法 ,利用状态反馈和动态补偿得到解耦线性系统 ,这些方法比…     

空间机器人捕获运动目标的协调规划与控制方法

针对目标以任意轨迹运动且其轨迹可能与``有保证工作空间'不相交的问题, 提出了空间机器人捕获运动目标的协调规划与控制方法. 首先, 根据手眼视觉测量数据, 预测目标的运动路径, 由此确定空间机器人对目标的最优交会姿态及最佳捕获臂型; 其次, 规划基座姿态及机械臂关节角的轨迹; 最后, 采用协调控制的方法, 实现空间机器人系统对运动目标的最优捕获(以最优交会姿态及最佳捕获臂型对目标进行捕获). 仿真结果表明了该方法的有效性.     

State Space Constrained Iterative Learning Control for Robotic Manipulators

Real‐life work operations of industrial robotic manipulators are performed within a constrained state space. Such operations most often require accurate planning and tracking a desired trajectory, where all the characteristics of the dynamic model are taken into consideration. This paper presents a general method and an efficient computational procedure for path planning with respect to state space constraints. Given a dynamic model of a robotic manipulator, the proposed solution takes into consideration the influence of all imprecisely measured model parameters, making use of iterative learning control (ILC). A major advantage of this solution is that it resolves the well‐known problem of interrupting the learning procedure due to a high transient tracking error or when the desired trajectory is planned closely to the state space boundaries. The numerical procedure elaborated here computes the robot arm motion to accurately track a desired trajectory in a constrained state space taking into consideration all the dynamic characteristics that influence the motion. Simulation results with a typical industrial robot arm demonstrate the robustness of the numerical procedure. In particular, the results extend the applicability of ILC in robot motion control and provide a means for improving the overall trajectory tracking performance of most robotic systems.     

Clock-turning gait synthesis for humanoid robots

Turning gait is a basic motion for humanoid robots. This paper presents a method for humanoid tuming, i.e. clock-turning. The objective of clock-turning is to change robot direction at a stationary spot. The clock-turning planning consists of four steps： ankle trajectory generation, hip trajectory generation, knee trajectory generation, and inverse kinematics calculation. Our proposed method is based on a typical humanoid structure with 12 DOFs （degrees of freedom）. The final output of clock-turning planning is 12 reference trajectories, which are used to control a humanoid robot with 12 DOFs. ZMP （zero moment point） is used as stability criterion for the planning. Simulation experiments are conducted to verify the effectiveness of our proposed clock-turuing method.     

配电线路维护机器人虚拟现实仿真系统设计

针对配电线路维护机器人遥显示和在线作业轨迹规划的应用需要,设计了一套机器人虚拟现实三维仿真系统.通过将机械臂姿态信息实时传输到虚拟现实环境中,实现了作业场景3D遥显示功能;根据机器人带电作业需求,设计了一种基于虚拟现实环境的机械臂轨迹规划运动学仿真软件,可在三维虚拟空间测试机械臂作业路径的可行性,具有直观、安全和高效的...     

Motion planning and contact control for a tele-assisted hydraulic underwater robot

Implementing tele-assistance or supervisory control for autonomous subsea robots requires atomic actions that can be called from high level task planners or mission managers. This paper reports on the design and implementation of a particular atomic action for the case of a subsea robot carrying out tasks in contact with the surrounding environment.Subsea vehicles equipped with manipulators can have upward of 11 degrees of freedom (DOF), with degenerate and redundant inverse kinematics. Distributed local motion planning is presented as a means to specify the motion of each robot DOF given a goal point or trajectory. Results are presented to show the effectiveness of the distributed versus non-distributed approach, a means to deal with local minima difficulties, and the performance for trajectory following with and without saturated joint angles on a robot arm.Consideration is also given to the modelling of hydraulic underwater robots and to the resulting design of hybrid position/force control strategies. A model for a hydraulically actuated robot is developed, taking into account the electrohydraulic servovalve, the bulk modulus of oil, piston area, friction, hose compliance and other arm parameters. Open and closed-loop control results are reported for simulated and real systems.Finally, the use of distributed motion planning and sequential position/force control of a Slingsby TA-9 hydraulic underwater manipulator is described, to implement an atomic action for tele-assistance. The specific task of automatically positioning and inserting a Tronic subsea mateable connector is illustrated, with results showing the contact conditions during insertion.     

基于GA优化RBF神经网络的机器人轨迹规划

针对机器人在不确定环境下末端执行器运动轨迹的准确性及平稳性问题,采用基于遗传算法(GA)优化径向基函数(RBF)神经网络的轨迹规划方法对Kinova Mico2机器人进行轨迹规划研究。介绍了机器人的相关参数及坐标系、建立了D-H矩阵和运动学模型。提取机器人实际抓取物品的直线轨迹并等分插补,用GA优化并实时在线更新RBF神经网络的权值,以更优的权值参数建立新的RBF网络。研究结果表明:相比优化前,基于GA优化RBF的规划轨迹逼近误差小且平滑稳定,仿真结果较为稳定,轨迹规划的可行性满足机器人实际抓取工作的需要。     

基于深度值的虚拟人手臂运动规划

提出了基于深度值（z buffer值）的虚拟人手臂运动规划新方法,将路径规划算法--A*算法扩展到三维空间,并利用图形硬件获得的深度值进行碰撞检测,解决了受限空间的运动规划问题。仿真结果显示,能快速有效的实现虚拟人手臂7个自由度的运动规划。     

Motion control and obstacle avoidance of a mobile robot with an onboard manipulator

Navigation and control of autonomous mobile vehicles with onboard manipulator systems are currently being investigated for intelligent manufacturing applications. A systematic approach for modeling and base motion control of a mobile vehicle with an onboard robot arm is presented. Feedback linearization is used to take into account the complete dynamics with non-holonomic constraints, yet methods from potential field theory are incorporated to provide resolution among possibly conflicting performance goals (e.g. path following and obstacle avoidance). The feedback linearization provides an inner loop that accounts for possible motion of the onboard arm. The two cases of maintaining a desired course and speed, and following a desired Cartesian trajectory are considered. The outer control loop is designed using potential field theory, with the two objectives of homing and avoiding an obstacle. This simple result obtained using potential functions provides very naturally the necessary intelligence for online resolution of conflicting performance objectives. It gives capabilities to these autonomous vehicles for maintaining a desired course and speed or tracking a Cartesian trajectory, avoiding obstacles during the course of travel, and initiating new online path planning when the size of the object is large so that unnecessary wandering in the work space is avoided.     

双臂机器人时间最优轨迹规划研究

本论文对双臂机器人时间最优轨迹规划问题作了深入研究,成功地运用了动态规划法 ,对沿着特定路径运动的双臂机器人左、右臂进行了时间最优轨迹规划,从而保证机器人左 、右臂在无碰撞的前提下,实现时间最优运动．算法通过了计算机仿真实验,证明算法可行 ,效率较高．