LI Yaxin , WANG Guolei , ZHANG Jianhui , TIAN Xinliang , AN Jing , CHEN Ken . Obstacle avoidance algorithm for redundant robots based on collision feedback[J]. Journal of Tsinghua University(Science and Technology), 2022 , 62(3) : 408 -415 . DOI: 10.16511/j.cnki.qhdxxb.2021.25.022

[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)