一种直接面向位移寻优的冗余度机器人运动规划算法

针对冗余度机器人梯度投影逆解算法和数值优化方法在处理位移层面附加作业任务时存在的不足,基于自运动流形,推导出直接面向位移寻优的冗余度机器人运动规划的新算法.新算法将运动规划等效为两步来完成,首先采用非冗余关节实现末端操作器的精确位姿跟踪,然后利用附加作业对冗余关节位移的梯度来调整冗余关节,再利用机器人的自运动来实现附加作业.仿真结果表明,新算法在有效完成主任务和附加任务的同时还具有更快的求解速度,因此更适于冗余度机器人完成位移层面的附加作业任务.

Displacement-Oriented Optimization Algorithm for Motion Planning of Redundant Manipulators

Aiming at the demerit of the gradient projection method and numerical optimization methods as performing additional work at displacement level, a novel two-step strategy of motion planning for redundant manipulators from the perspective of self-motion manifold is proposed, where a precise posture tracking of the end-effector is carried out by employing non-redundant joint, then the redundant joint is adjusted with the gradient of additional work on redundant joint displacement, and the additional work is performed via the self-motion of manipulator. The simu-lation result shows that this method can remarkably accelerate the solution process while per-forming the main task and additional task in a more efficient manner to suit the case of the addi-tional work at the displacement level for redundant manipulator.