双手爪攀爬机器人空间桁架中的无碰路径规划
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摘要
双手爪攀爬机器人是指一类结构上由多自由度本体和首尾攀附装置组成的，通过两手爪交替固定并配合本体屈伸或扭摆等运动来实现自身整体移动的特种攀爬机器人。与传统轮式或履带式等攀爬机器人相比，其具有多种攀爬步态、良好的越障和杆件间过渡能力等优点。因而有望成为替代人类执行空间桁架中高强度、高危险的高空作业的自动化解决方案。但就国内外研究现状而言，双手爪攀爬机器人缺乏在空间桁架中进行自主智能路径规划的能力，相关理论研究几乎空白。
本文以采用环抱式夹持的双手爪攀爬机器人作为研究对象，就其在空间桁架中进行无碰路径规划的相关问题展开系统的研究和深入的探讨。主要内容包括：
(1)研究了空间桁架与双手爪攀爬机器人的描述方式，提出了以双位姿矩阵（基座位姿和末端位姿）来完整描述双手爪攀爬机器人与桁架之间的相互关系。基于该描述方法，提炼出双手爪攀爬机器人在空间桁架中无碰路径规划的共性问题，并建立了其数学模型。通过与双足步行移动方式类比，提出了逐步细化的三层规划器框架来解决该规划问题，并从宏观角度分析了全局路径规划器、夹持点规划器和单步无碰运动规划器的任务和作用。
(2)探讨了以位置可达性与夹持安全性为约束的杆件间可过渡性快速筛选方法和以杆件间最近点为基础的过渡姿态选择策略，同时建立了对平面构型五自由度双手爪攀爬机器人在夹持姿态约束下进行可过渡性分析并准确求解可过渡区域的相关理论。基于上述杆件间过渡分析理论和方法，设计了全局路径规划器对桁架进行搜索以获取具有全局导向性的路径地图。通过仿真验证了过渡姿态选择策略和可过渡区域求解算法的正确性。
(3)基于双手爪攀爬机器人的步态信息讨论了移动距离与所需最少攀爬步数的分段函数关系，提出了以夹持点数目最少为目标的基于关键位姿的夹持点规划算法。定义了可夹持区域的概念，并提出了一种基于二分逼近原理的快速搜索算法予以求解以及基于可夹持区域求解的夹持点规划算法。设计了夹持点规划器来分割全局路径地图以获取夹持点序列。通过仿真验证了可夹持区域求解理论和算法的高效性。
(4)研究了双手爪机器人在多步连续攀爬中每一步无碰运动规划的具体模型。通过状态定义、随机采样和插值以及度量函数等共性设计，将双向快速扩展随机树算法(BiRRT)引入双手爪攀爬机器人的单步无碰运动规划。提出了前处理环节为规划器选择更加合理的起始和目标构型。通过仿真验证了单步无碰运动规划算法的有效性。
(5)讨论了三层规划器的集成和协作问题，以及进行攀爬路径规划的具体步骤。通过规划五自由度和六自由度双手爪攀爬机器人在空间桁架中的攀爬路径的仿真实验，验证了本文所提出的规划器的理论、策略以及算法的有效性。
Biped climbing robots refer to those special climbing robots configured multiple degrees-of-freedom body in the middle and attaching devices at both ends. They usually move by them-selves through interchanging grippers to attach and cooperating with the body motion such asflexion and extension, swinging-around or flipping-over and so on. Compared with traditionalwheeled or tracked climbing robots, biped climbing robots feature high mobility in terms ofmultiple gaits, superior ability to negotiate obstacles and to transit between poles, etc. Hencethey are expected to be the automated solution to carry out high-strength, high-danger andhigh-rise tasks in stead of human beings. However, as regards to the state of the art of bipedclimbing robots all over the world, they lack of the capability to plan a path on spatial trussesautonomously and intelligently.
This dissertation focuses on the fundamental issues related to collision-free path planningof biped climbing robots enclosing a pole to grasp on spatial trusses. Specifically, the maincontributions are as follows.
(1) The description of spatial trusses and biped climbing robots is investigated, whichleads to a novel method with double configuration matrixes to completely express the re-lationship between them. The universal mathematical model of collision-free path planningwith biped climbing robots on spatial trusses is proposed. Inspired by biped walking, a three-layered framework integrating three planners, which are respectively the global path planner,the footholds planner and the single-step collision-free motion planner, is presented to solvethis problem. The roles of the three planners are also illustrated.
(2) In order to fast filter potential poles for transiting, an approach valuating the accessibil-ity of position and the safety of grasps is proposed. A strategy based on the closest points of twopoles is also proposed to select the grasping orientation for transiting. The optional graspingregions for transiting with a five degrees-of-freedom biped climbing robot like Climbot-5D arediscussed and solved. In the basis of the above theories and approaches, a global path planneris designed to search the truss, so as to obtain roadmaps with global guidance information. Al-gorithms to select the grasping orientation and to solve optional grasping regions for transitingare verified through simulations.
(3) According to the information of three basic gaits for biped climbing robots, the re- lationship between the mobile distance and the least number of climbing cycles is discussed.An algorithm based on this function relationship is presented to achieve the least number ofgrasping points through the whole path. Then the concept of graspable regions is defined, anda novel and fast approach using the binary approximating principle is proposed to solve them.After that, an algorithm based on solving the graspable regions is also presented to implementfootholds planning. With the above two algorithms, a footholds planner is designed to extractfootholds sequence from the global roadmap. Simulations demonstrate the efectiveness andthe efciency of the proposed algorithm to solving the graspable regions.
(4) The specific model of single-step collision-free motion planning with biped climbingrobots is presented. The bilateral rapidly-exploring random tree (BiRRT) algorithm is intro-duced to solve this problem by universal design of its main processes, including state definition,sampling and interpolation, and so on. A preprocess is proposed to select suitable initial andgoal configurations for BiRRT. The efectiveness of the algorithm is verified by simulations.
(5) Three planners are integrated together and their cooperation mode is also discussed.The specific steps to perform climbing path planning with them are presented. Through simu-lations with biped climbing robots with five and six degrees of freedom, the accuracy and theefectiveness of the presented theories, strategies and algorithms are verified.
本文以采用环抱式夹持的双手爪攀爬机器人作为研究对象，就其在空间桁架中进行无碰路径规划的相关问题展开系统的研究和深入的探讨。主要内容包括：
(1)研究了空间桁架与双手爪攀爬机器人的描述方式，提出了以双位姿矩阵（基座位姿和末端位姿）来完整描述双手爪攀爬机器人与桁架之间的相互关系。基于该描述方法，提炼出双手爪攀爬机器人在空间桁架中无碰路径规划的共性问题，并建立了其数学模型。通过与双足步行移动方式类比，提出了逐步细化的三层规划器框架来解决该规划问题，并从宏观角度分析了全局路径规划器、夹持点规划器和单步无碰运动规划器的任务和作用。
(2)探讨了以位置可达性与夹持安全性为约束的杆件间可过渡性快速筛选方法和以杆件间最近点为基础的过渡姿态选择策略，同时建立了对平面构型五自由度双手爪攀爬机器人在夹持姿态约束下进行可过渡性分析并准确求解可过渡区域的相关理论。基于上述杆件间过渡分析理论和方法，设计了全局路径规划器对桁架进行搜索以获取具有全局导向性的路径地图。通过仿真验证了过渡姿态选择策略和可过渡区域求解算法的正确性。
(3)基于双手爪攀爬机器人的步态信息讨论了移动距离与所需最少攀爬步数的分段函数关系，提出了以夹持点数目最少为目标的基于关键位姿的夹持点规划算法。定义了可夹持区域的概念，并提出了一种基于二分逼近原理的快速搜索算法予以求解以及基于可夹持区域求解的夹持点规划算法。设计了夹持点规划器来分割全局路径地图以获取夹持点序列。通过仿真验证了可夹持区域求解理论和算法的高效性。
(4)研究了双手爪机器人在多步连续攀爬中每一步无碰运动规划的具体模型。通过状态定义、随机采样和插值以及度量函数等共性设计，将双向快速扩展随机树算法(BiRRT)引入双手爪攀爬机器人的单步无碰运动规划。提出了前处理环节为规划器选择更加合理的起始和目标构型。通过仿真验证了单步无碰运动规划算法的有效性。
(5)讨论了三层规划器的集成和协作问题，以及进行攀爬路径规划的具体步骤。通过规划五自由度和六自由度双手爪攀爬机器人在空间桁架中的攀爬路径的仿真实验，验证了本文所提出的规划器的理论、策略以及算法的有效性。
Biped climbing robots refer to those special climbing robots configured multiple degrees-of-freedom body in the middle and attaching devices at both ends. They usually move by them-selves through interchanging grippers to attach and cooperating with the body motion such asflexion and extension, swinging-around or flipping-over and so on. Compared with traditionalwheeled or tracked climbing robots, biped climbing robots feature high mobility in terms ofmultiple gaits, superior ability to negotiate obstacles and to transit between poles, etc. Hencethey are expected to be the automated solution to carry out high-strength, high-danger andhigh-rise tasks in stead of human beings. However, as regards to the state of the art of bipedclimbing robots all over the world, they lack of the capability to plan a path on spatial trussesautonomously and intelligently.
This dissertation focuses on the fundamental issues related to collision-free path planningof biped climbing robots enclosing a pole to grasp on spatial trusses. Specifically, the maincontributions are as follows.
(1) The description of spatial trusses and biped climbing robots is investigated, whichleads to a novel method with double configuration matrixes to completely express the re-lationship between them. The universal mathematical model of collision-free path planningwith biped climbing robots on spatial trusses is proposed. Inspired by biped walking, a three-layered framework integrating three planners, which are respectively the global path planner,the footholds planner and the single-step collision-free motion planner, is presented to solvethis problem. The roles of the three planners are also illustrated.
(2) In order to fast filter potential poles for transiting, an approach valuating the accessibil-ity of position and the safety of grasps is proposed. A strategy based on the closest points of twopoles is also proposed to select the grasping orientation for transiting. The optional graspingregions for transiting with a five degrees-of-freedom biped climbing robot like Climbot-5D arediscussed and solved. In the basis of the above theories and approaches, a global path planneris designed to search the truss, so as to obtain roadmaps with global guidance information. Al-gorithms to select the grasping orientation and to solve optional grasping regions for transitingare verified through simulations.
(3) According to the information of three basic gaits for biped climbing robots, the re- lationship between the mobile distance and the least number of climbing cycles is discussed.An algorithm based on this function relationship is presented to achieve the least number ofgrasping points through the whole path. Then the concept of graspable regions is defined, anda novel and fast approach using the binary approximating principle is proposed to solve them.After that, an algorithm based on solving the graspable regions is also presented to implementfootholds planning. With the above two algorithms, a footholds planner is designed to extractfootholds sequence from the global roadmap. Simulations demonstrate the efectiveness andthe efciency of the proposed algorithm to solving the graspable regions.
(4) The specific model of single-step collision-free motion planning with biped climbingrobots is presented. The bilateral rapidly-exploring random tree (BiRRT) algorithm is intro-duced to solve this problem by universal design of its main processes, including state definition,sampling and interpolation, and so on. A preprocess is proposed to select suitable initial andgoal configurations for BiRRT. The efectiveness of the algorithm is verified by simulations.
(5) Three planners are integrated together and their cooperation mode is also discussed.The specific steps to perform climbing path planning with them are presented. Through simu-lations with biped climbing robots with five and six degrees of freedom, the accuracy and theefectiveness of the presented theories, strategies and algorithms are verified.
引文
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