【摘要】：機器人的自主運動規(guī)劃技術(shù)是將機器人快速部署到實際應(yīng)用的關(guān)鍵技術(shù)。本文結(jié)合高等學(xué)校博士學(xué)科點專項科研基金“遙操縱電液欠驅(qū)動冗余自由度機械手系統(tǒng)雙向伺服控制策略”(20130061110009),圍繞七自由度機器人躲避關(guān)節(jié)極限,運動規(guī)劃,碰撞檢測關(guān)鍵問題進行研究。本文以零關(guān)節(jié)偏移量的Kuka LBR iiwa機器人運動學(xué)參數(shù)為模型,根據(jù)D-H參數(shù)法建立正運動學(xué)方程,建立運動學(xué)解析逆解。根據(jù)離散的多解,對工作空間進行劃分,為運動規(guī)劃提供求解機器人逆解的控制參數(shù)。建立臂形角到每個關(guān)節(jié)轉(zhuǎn)角的映射關(guān)系,可快速求解滿足七個關(guān)節(jié)轉(zhuǎn)角極限的臂形角區(qū)間。建立三維可視化障礙物環(huán)境模型,并提供線段、三角形平面與障礙物模型相交測試的功能函數(shù)。對機器人自運動形成的空心紡錘體與障礙物相交問題建立求解算法,得出機器人末端位姿不變情況下的避障礙物的臂形角區(qū)間。利用此區(qū)間與避關(guān)節(jié)極限的臂形角區(qū)間的交集,得出給定末端執(zhí)行器位姿下避關(guān)節(jié)極限并且避障礙物的所有可行逆解,該交集可作為后續(xù)動力學(xué)優(yōu)化的完備取值區(qū)間。在RRT(隨機擴展樹法)的兩種改進版RRTstar(漸進優(yōu)化隨機擴展樹法)與BiRRT(雙向隨機擴展樹法)方法結(jié)合的基礎(chǔ)上,提出一種基于對樣點評價指標(biāo)的連接策略,使結(jié)果更能趨近全局最優(yōu)路徑。采用雙向啟發(fā)式的隨機采樣策略,使樣點向起始點目標(biāo)點連線偏置,提高在最優(yōu)路徑附近的狹窄通道采樣概率。
[Abstract]:Autonomous motion planning technology of robot is the key technology to rapidly deploy robot to practical application. In this paper, combined with the special scientific research fund of doctoral program in colleges and universities, "bidirectional servo control strategy of electro-hydraulic underdriven redundant degree-of-freedom manipulator system" (20130061110009), around the 7-degree-of-freedom robot to avoid the joint limit, motion planning, The key problems of collision detection are studied. In this paper, taking the kinematic parameters of Kuka LBR iiwa robot with zero joint offset as the model, the forward kinematic equation is established according to the D 鈮，

本文編號：2480905