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首页> 外文期刊>Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods >A method based on the vanishing of self-motion manifolds to determine the collision-free workspace of redundant robots
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A method based on the vanishing of self-motion manifolds to determine the collision-free workspace of redundant robots

机译：一种基于自动运动歧管消失的方法，以确定冗余机器人的无碰撞工作空间

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摘要

It is well known that there exist interior barriers within the boundaries of the workspace of redundant robots. These interior barriers, which are drastically affected by kinematic constraints, are very important for trajectory planning since they imply motion impediments for the robot. Existing geometrical and singularity-based methods that obtain such interior barriers cannot accommodate complex (yet common) kinematic constraints, such as the condition that collisions between different links should be forbidden. This paper presents a new sampling method to obtain the boundaries and interior barriers of the workspace of redundant robots considering collision constraints. The proposed method identifies the occurrence of barriers with the vanishing of connected components of self-motion manifolds. Our method consists of three phases: (1) densely sampling self-motion manifolds by solving the inverse kinematics, (2) clustering phase to identify disjoint self-motion manifolds, and (3) matching phase to detect the vanishing of self-motion manifolds. The presented method is illustrated with several examples involving redundant parallel robots, considering joint limits and collisions. These examples demonstrate the feasibility and usefulness of the proposed method, and illustrate the drastic changes suffered by workspace barriers due to collision constraints. (C) 2018 Elsevier Ltd. All rights reserved.
机译：众所周知，在冗余机器人的工作空间的边界内存在内部屏障。这些内部屏障，受运动限制严重影响，对于轨迹规划非常重要，因为它们意味着机器人的运动障碍。获得这种内部障碍的基于几何和奇点的方法不能容纳复杂的（但是常见的）运动约束，例如应该禁止不同链接之间的碰撞的条件。本文介绍了考虑碰撞约束的冗余机器人工作空间的边界和内部屏障的新抽样方法。所提出的方法识别出现自动运动歧管的连接部件的消失的障碍物的发生。我们的方法由三个阶段组成：（1）通过求解逆运动学，（2）聚类阶段来识别不相交的自动运动歧管，以及（3）匹配阶段来检测自动运动歧管的消失的匹配阶段。呈现的方法用涉及冗余并联机器人的若干示例说明，考虑关节限制和碰撞。这些例子证明了所提出的方法的可行性和有用性，并说明由于碰撞约束而导致的工作空间障碍遭受的激烈变化。 （c）2018年elestvier有限公司保留所有权利。

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