MECHANICAL ENGINEERING |
|
|
|
|
|
Obstacle avoidance algorithm for redundant robots based on collision feedback |
LI Yaxin1, WANG Guolei1, ZHANG Jianhui1, TIAN Xinliang2, AN Jing3, CHEN Ken1 |
1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China; 2. School of Technology, Beijing Forestry University, Beijing 100084, China; 3. Avic Xi'an Aircraft Industry Group Company Ltd, Xi'an 710089, China |
|
|
Abstract Robots for spraying in complex enclosed pipeline parts need effective obstacle avoidance capabilities. An obstacle avoidance algorithm was developed based on collision detection feedback for a redundant manipulator. The projection intersection method was used to detect a collision with the collision types divided into avoidable and unavoidable collisions. A dynamic adjustment algorithm using joint-weights was developed for avoidable collisions to restrict the collision joints while relaxing the restrictions on the other joints to optimize the motion for obstacle avoidance. For unavoidable collisions, the "lever principle" was used to adjust the obstacle avoidance by adjusting the normal direction to the target point. Finally, the joint acceleration was optimized to modify the trajectory and reduce the inertial impact of the robot. Simulations verify the feasibility of this algorithm.
|
Keywords
redundant manipulator
motion control
projection gradient method
obstacle avoidance
spraying
|
Issue Date: 10 March 2022
|
|
|
[1] 宋袁曾, 陈洁, 毛景. 大型飞机整机涂装自动化实施探讨与展望[J]. 航空制造技术, 2016(10):52-56.SONG Y Z, CHEN J, MAO J. Discussion and prospects of trunk aircraft exterior automatic painting for large civil aircraft[J]. Aeronautical Manufacturing Technology, 2016(10):52-56. (in Chinese) [2] 崔国华, 王立卿, 马良, 等. 一种混凝土管道喷涂机器人设计与轨迹规划[J]. 机械设计与制造, 2020(3):159-162, 166.CUI G H, WANG L Q, MA L, et al. Configuration and trajectory planning of a concrete pipe spraying robot[J]. Machinery Design & Manufacture, 2020(3):159-162, 166. (in Chinese) [3] 童艳. 管道内壁喷涂机器人结构设计与分析[D]. 北京:北京林业大学, 2019.TONG Y. Structural design and analysis of the pipe inner wall painting robot[D]. Beijing:Beijing Forestry University, 2019. (in Chinese) [4] 陈雁, 王国磊, 陈恳, 等. 复杂曲管机器人喷涂理论与技术[M]. 重庆:重庆大学出版社, 2016.CHEN Y, WANG G L, CHEN K, et al. Theory and technology of robot spraying for complex curved pipe[M]. Chongqing:Chongqing University Press, 2016. (in Chinese) [5] LOZANO-PÉREZ T. Spatial planning:A configuration space approach[J]. IEEE Transactions on Computers, 1983, 32(2):108-120. [6] 丁汉, 熊有伦. 冗余度机器人的障碍物躲避[J]. 华中理工大学学报, 1989(5):21-25.DING H, XIONG Y L. Obstacle avoidance for redundant robots[J]. Journal of Huazhong University of Science and Technology, 1989(5):21-25. (in Chinese) [7] KHATIB O. Real-time obstacle avoidance for manipulators and mobile robots[J]. The International Journal of Robotics Research, 1986, 5(1):396-404. [8] MACIEJEWSKI A A, FOX J J. Path planning and the topology of configuration space[J]. IEEE Transactions on Robotics and Automation, 1993, 9(4):444-456. [9] KLEIN A C. Use of redundancy in the design of robotic systems[C]//Second International Symposium of Robotics Research. Cambridge:MIT Press, 1984. [10] LIEGEOIS A. Automatic supervisory control of the configuration and behavior of multibody mechanisms[J]. IEEE Transactions on Systems, Man, and Cybernetics, 1977, 7(12):868-871. [11] 杨延西, 刘丁. 基于简单模糊逻辑的冗余度机器人动力学路径规划新方法[J]. 计算机工程与应用, 2003, 39(34):84-86.YANG Y X, LIU D. A new dynamic path planning approach for redundant manipulator based on simple fuzzy logics[J]. Computer Engineering and Applications, 2003, 39(34):84-86. (in Chinese) [12] 贠超, 刘刚, 王刚, 等. 基于RBF神经网络和二次规划的冗余机械臂避障问题研究[J]. 机电工程, 2016, 33(1):1-7.YUN C, LIU G, WANG G, et al. Obstacle avoidance for redundant manipulators using RBF neural networks and quadratic programming[J]. Journal of Mechanical & Electrical Engineering, 2016, 33(1):1-7. (in Chinese) [13] 赵爽, 李立, 白瑞松. 基于量子遗传算法的超冗余度机器人逆解优化[J]. 机械传动, 2013, 37(11):85-88.ZHAO S, LI L, BAI R S. Optimization of the inverse solution for hyper redundant robot based on QGA[J]. Journal of Mechanical Transmission, 2013, 37(11):85-88. (in Chinese) [14] 牟宗高. 面向狭小空间作业的超冗余机器人轨迹规划及控制研究[D]. 哈尔滨:哈尔滨工业大学, 2017.MU Z G. Research on trajectory planning and control of hyper-redundant robots for confined-space operations[D]. Harbin:Harbin Institute of Technology, 2017. (in Chinese) [15] 陆震. 冗余自由度机器人原理及应用[M]. 北京:机械工业出版社, 2007.LU Z. Principle and application of redundant DOF robots[M]. Beijing:China Machine Press, 2017. (in Chinese) [16] 许志远. 七轴冗余机器人避障运动规划研究[D]. 南京:东南大学, 2019.XU Z Y. Obstacle avoidance and motion planning of 7-DoF redundant manipulators[D]. Nanjing:Southeast University, 2019. (in Chinese) [17] 徐亚之. 冗余机械臂运动避障与路径规划[D]. 沈阳:东北大学, 2015.XU Y Z. Obstacle avoidance and path planning for a redundant manipulator[D]. Shenyang:Northeastern University, 2015. (in Chinese) [18] 胡静. 冗余自由度机器人的路径规划研究[D]. 南京:东南大学, 2017.HU J. Research on path planning of redundant robot[D]. Nanjing:Southeast University, 2017. (in Chinese) [19] 华霄桐, 王国磊, 张思敏, 等. 用于复杂管道内表面喷涂的冗余机器人轨迹避障规划[J]. 机器人, 2019, 41(5):690-696.HUA X T, WANG G L, ZHANG S M, et al. Trajectory planning of redundant robot for painting inner surface of complex duct considering obstacle avoidance[J]. Robot, 2019, 41(5):690-696. (in Chinese) [20] 陈启军, 王月娟, 李自育, 等. 避免关节限制的机器人冗余分解方法[J]. 同济大学学报, 2000, 28(1):41-45.CHEN Q J, WANG Y J, LI Z Y, et al. Comparative research of kinematic redundancy resolution strategy of robotic manipulators for avoiding joint limits[J]. Journal of Tongji University, 2000, 28(1):41-45. (in Chinese) [21] KADAM N R, KARTHIKEYAN G, KULKARNI D M. Effect of spray angle onto the microstructure of EB-PVD enabled 8YSZ thermal barrier coatings[J]. Materials Today:Proceedings, 2020. DOI:10.1016/j.matpr.2020.11.187. [22] 叶平, 孙汉旭, 张秋豪. 基于自运动控制的冗余度机器人运动学优化[J]. 机械工程学报, 2004, 40(12):128-132.YE P, SUN H X, ZHANG Q H. Kinematic optimization of redundant robot based on self-motion control[J]. Chinese Journal of Mechanical Engineering, 2004, 40(12):128-132. (in Chinese) [23] 孙奎, 谢宗武, 黄剑斌, 等. 基于连续比例因子的冗余度机器人梯度投影算法[J]. 吉林大学学报(工学版), 2009, 39(5):1257-1261.SUN K, XIE Z W, HUANG J B, et al. Gradient projection method of kinematic redundant manipulator based on continuous scale factor[J]. Journal of Jilin University (Engineering and Technology Edition), 2009, 39(5):1257-1261. (in Chinese) [24] 宁英豪, 温淑花. 冗余度机器人关节角振荡控制研究[J]. 太原科技大学学报, 2013, 34(1):46-49.NING Y H, WEN S H. Research on the joints oscillation control of redundant robots[J]. Journal of Taiyuan University of Science and Technology, 2013, 34(1):46-49. (in Chinese) |
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
|
Shared |
|
|
|
|
|
Discussed |
|
|
|
|