›› 2012, Vol. 32 ›› Issue (3): 49-56.doi: 10.3780/j.issn.1000-758X.2012.03.008

• 研究探讨 • 上一篇    下一篇

冗余空间机械臂粗捕获段无碰撞轨迹规划算法

 王悦, 贾英宏, 徐世杰   

  1. (北京航空航天大学宇航学院,北京100191)
  • 收稿日期:2011-07-12 修回日期:2012-06-25 出版日期:2012-06-25 发布日期:2012-06-25
  • 作者简介:王悦 1987年生,2009年毕业于北京航空航天大学飞行器设计专业。现为北京航空航天大学飞行器设计专业博士研究生,研究方向为基于几何力学和动力系统理论的天体力学和航天飞行力学。
  • 基金资助:

    国家自然科学基金(10872028)

Collision-free Motion Planning Algorithm for Redundant Space Manipulators during Coarse Target Capturing

 WANG  Yue, JIA  Ying-Hong, XU  Shi-Jie   

  1. (School of Astronautics, Beihang University, Beijing 100191)
  • Received:2011-07-12 Revised:2012-06-25 Online:2012-06-25 Published:2012-06-25

摘要: 现有的基于C空间的无碰撞轨迹规划算法需要求解C空间以获得C空间障碍边界。对于多自由度的冗余机械臂,求解过程需要消耗很大的计算量和内存,不适用于计算资源紧张的空间机械臂轨迹的快速规划。文章提出了一种不需要求解C空间的试探性规划算法,包含4个子算法:碰撞检测算法、无碰撞目标构型求解算法、无碰撞路径搜索算法和路径平滑算法。已知期望的末端作用器位置和姿态,利用目标构型求解算法得到无碰撞的目标构型,然后由路径搜索算法在C空间障碍边界未知的情况下,利用碰撞检测算法,采用一定的试探规律,在C空间中搜索出一条无碰撞路径,最终由路径平滑算法使该路径平滑,易于实现。仿真算例表明,该算法是快速有效的,适用于冗余空间机械臂粗捕获段的快速轨迹规划。

关键词: 冗余机械臂, 轨迹规划, 避碰, C空间

Abstract: The existing collision-freemotion planning algorithms based on configuration space (C-Space) need to find the boundaries of C-space obstacles by solving C-space, which will cost much computation and memories for redundant manipulators with larger degrees of freedom (DOF). A novel algorithm was proposed to find the collision-free path in C-space by testing motion directions without solving C-space. This algorithm contained four sub-algorithms: the collision detection algorithm, the collision free target configuration solver, the collision-free path-searching algorithm and the path smoothing algorithm. Given the desired position and attitude of the end-effector, the target configuration solver calculated a collision-free target onfiguration. then the path-searching algorithm found a collision-free path with C-space  obstacle boundaries unknown. Finally, the path smoothing algorithm smoothed the obtained path. To verify the effectiveness of the algorithm, two numerical examples were carried out. And the results indicatethat the algorithm is efficient and can be used in fast motion planning for redundant manipulators in space applications.

Key words: Redundant manipulators, Motion planning, Collision avoidance, Configuration space