七自由度冗余仿人臂的障碍实时回避

针对具有末端位姿约束的仿人臂,给出一种实现障碍回避的新方法。将障碍物和仿人臂假想为带电体,处在障碍物构成电场中的仿人臂将受到虚拟电场力的作用。用力学方法将该虚拟作用力分解到各关节,并以分解后虚拟力为指标实时地选择一冗余关节,对该关节构成力反馈,实现障碍的实时回避。该方法使障碍回避过程不再依赖于运动学优化,将冗余度机械臂转化为非冗余度机械臂,直接给出位置形式的逆解。

Real-time collision avoidance for 7-DOF redundant anthropomorphic arm

A collision avoidance algorithm was developed for an anthropomorphic arm with tool-tip restrictions. The model assumes that the obstacles and the arm are charged, so that the arm in an electric field created by the obstacles would experience a virtual force. The virtual force is then decomposed intoforces at the arm joints and a redundant joint is selected in real-time based on the decomposed virtual forces. Finally, force feedback on the joint is used for real-time collision avoidance. The approach implements collision avoidance without kinematics optimization and converts the arm into a non-redundant structure to directly calculate its inverse kinematics.