...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>International Journal of Control, Automation, and Systems >Trajectory Planning with Collision Avoidance for Redundant Robots Using Jacobian and Artificial Potential Field-based Real-time Inverse Kinematics
【24h】

Trajectory Planning with Collision Avoidance for Redundant Robots Using Jacobian and Artificial Potential Field-based Real-time Inverse Kinematics

机译：使用Jacobian和人工潜在的实地的实时反向运动学对冗余机器人进行碰撞的轨迹规划

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This study proposes an algorithm for combining the Jacobian-based numerical approach with a modified potential field to solve real-time inverse kinematics and path planning problems for redundant robots in unknown environments. With an increase in the degree of freedom (DOF) of the manipulator, however, the problems in realtime inverse kinematics become more difficult to solve. Although the analytical and geometrical inverse kinematics approach can obtain the exact solution, it is considerably difficult to solve as the DOF increases, and it necessitates recalculations whenever the robot arm DOF or Denavit-Hartenberg (D-H) parameters change. In contrast, the numerical method, particularly the Jacobian-based numerical method, can easily solve inverse kinematics irrespective of the aforementioned changes including those in the robot shape. The latter method, however, is not employed in path planning for collision avoidance, and it presents real-time calculation problems. This study accordingly proposes the Jacobian-based numerical approach with a modified potential field method that can realize real-time calculations of inverse kinematics and path planning with collision avoidance irrespective of whether the case is redundant or non-redundant. To achieve this goal, the use of a judgment matrix is proposed for obstacle condition identification based on the obstacle boundary definition; an approach for avoiding the local minimum is also proposed. After the obstacle avoidance path is generated, a trajectory plan that follows the path and avoids the obstacle is designed. Finally, the proposed method is evaluated by implementing a motion planning simulation of a 7-DOF manipulator, and an experiment is performed on a 7-DOF real robot.
机译：本研究提出了一种将基于Jacobian的数值方法与修改的潜在字段组合的算法，以解决未知环境中冗余机器人的实时逆运动学和路径规划问题。然而，随着操纵器的自由度（DOF）的增加，实时逆运动学的问题变得更加难以解决。尽管分析和几何反向运动学方法可以获得精确的解决方案，但随着DOF的增加，它有很大难以解决，并且每当机器人臂DOF或DANAVIT-HARTENBERG（D-H）参数变化时需要重新计算。相反，数值方法，特别是基于Jacobian的数值方法，可以容易地解决反向运动学，而不管上述改变，包括机器人形状的那些。然而，后一种方法没有用于避免碰撞的路径规划中，并且它提出了实时计算问题。因此，本研究提出了基于雅可比的数值方法，其具有修改的潜在场方法，可以实现与碰撞避免的反向运动学和路径规划的实时计算，而无论案例是多余的还是非冗余。为了实现这一目标，提出了基于障碍边界定义的障碍状态识别的使用来使用判断矩阵;还提出了一种避免局部最小值的方法。在产生障碍物避免路径之后，设计了沿路径遵循并避免障碍物的轨迹计划。最后，通过实施7-DOF操纵器的运动计划模拟来评估所提出的方法，并且在7-DOF真实机器人上执行实验。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号