《计算机应用研究》|Application Research of Computers

渐进式约束扩展的机械臂运动规划算法

Progressive constrained extended manipulator motion planning algorithm

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作者 陈伟,白克强,李孚洋,刘知贵
机构 西南科技大学 a.计算机科学与技术学院;b.信息工程学院,四川 绵阳 621010
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文章编号 1001-3695(2020)09-038-2754-04
DOI 10.19734/j.issn.1001-3695.2019.05.0139
摘要 为了保证冗余机械臂带约束运动规划时的路径连续性,针对目前的直接插值和连续插值方法潜在的约束失效和路径失效问题,提出渐进式约束扩展的快速搜索随机树算法(PCE-RRT)。该算法在进行搜索树扩展时引入了一种渐进式约束扩展方法,该方法使用带有最近点信息的逆运动学计算策略,可以在保证任务约束的情况下迭代缩短最近点和扩展点的距离,让每一次扩展都能够保证搜索树的约束性和连续性。PCE-RRT可以使最终生成的搜索树很好地贴合于约束流形子空间,且树上任意两个相连节点都能满足连续条件。通过仿真实验对算法进行验证,实验结果表明该算法能够为机械臂带约束运动规划问题提供同时满足约束性和连续性条件的路径解。
关键词 机械臂; 插值; 快速搜索随机树法; 渐进式约束扩展; 约束流形
基金项目 四川省研究生教育改革创新项目(14JGCX01)
本文URL http://www.arocmag.com/article/01-2020-09-038.html
英文标题 Progressive constrained extended manipulator motion planning algorithm
作者英文名 Chen Wei, Bai Keqiang, Li Fuyang, Liu Zhigui
机构英文名 a.School of Computer Science & Technology,b.School of Information Engineering,Southwest University of Science & Technology,Mianyang Sichuan 621010,China
英文摘要 In order to ensure the path continuity of redundant manipulators with constrained motion planning, this paper proposed a rapidly exploring random trees algorithm with progressive constraint extension(PCE-RRT) for the constrained failure and path failure problems of direct interpolation and continuous interpolation. The algorithm introduced a progressive constrained extension method when performing tree expansion, which used the inverse kinematics method with the nearest point information, iteratively shortened the distance between the nearest point and the extended point while ensuring the task constraint, so that each extension could guarantee the constraint and continuity of the tree. PCE-RRT could make the final tree fit well into the constrained manifold subspace, and any two connected nodes in the search tree could satisfy the continuous condition. The simulation experiments verify the validity of the algorithm, and the results show that the proposed algorithm can provide a path solution that satisfied the constraints and continuity conditions for the manipulator constrained motion planning problem.
英文关键词 manipulator; interpolation; RRT; progressive constraint expansion; constrained manifold
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收稿日期 2019/5/11
修回日期 2019/6/28
页码 2754-2757,2761
中图分类号 TP242.6
文献标志码 A