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首页> 外文期刊>Journal of Mechanical Science and Technology >Dynamic self-collision detection and prevention for 2-DOF robot arms using interval-based analysis
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Dynamic self-collision detection and prevention for 2-DOF robot arms using interval-based analysis

机译：基于间隔分析的2自由度机械臂动态自碰撞检测与预防

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摘要

The problems related to self-collision detection and optimal collision-free trajectory planning for a robot arm subjected to dynamic constraints is investigated. First, a computed-torque method is used to obtain a linearized closed-loop system. For this linearized system, the reference state that the robot arm is capable of reaching is verified through phase plane analysis. This will ensure that the robot arm can be stopped before self-collision occurs. Dynamic constraints are taken into account for a continuous motion of deceleration by calculating the bounds of the commanded force/torques with interval evaluations. When the reference state at t + δt is not valid for self-collision avoidance, a new feasible state is determined by adhering to an interval-based method which allows decomposition of a complex constrained optimization problem into a simple two-stage optimization problem with relaxed constraints. The optimized feasible state not only secures the robot arm against self-collision but also allows the robot arm to track the original reference trajectory closely. Simulation and experimental results of a 2-dof robot arm show the effectiveness of the proposed interval-based approach.
机译：研究了受到动态约束的机器人手臂的自碰撞检测和最佳无碰撞轨迹规划问题。首先，使用计算转矩方法获得线性化的闭环系统。对于此线性化系统，通过相平面分析来验证机器人手臂能够到达的参考状态。这将确保在发生自碰撞之前可以停止机械臂。通过使用间隔评估来计算命令力/扭矩的范围，可以将动态约束考虑到连续的减速运动。当t +δt处的参考状态对于避免自碰撞无效时，通过遵循基于间隔的方法来确定新的可行状态，该方法允许将复杂的约束优化问题分解为具有松弛的简单两阶段优化问题约束。优化的可行状态不仅可以确保机械臂免受自碰撞，还可以使机械臂紧密跟踪原始参考轨迹。 2-dof机器人手臂的仿真和实验结果表明了所提出的基于间隔的方法的有效性。

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