空间多机器人协同运动规划研究
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摘要
面向空间在轨装配任务提出基于优先级的多机器人协同运动规划方法。多机器人系统包括一个7自由度操作机器人和一个13自由度超冗余照明机器人。采用两种规划方法规划高优先级的操作机器人,即关节空间点到点的离线路径规划和基于伪逆的笛卡尔空间在线运动规划。针对低优先级的超冗余照明机器人,将操作机器人视为已知障碍,采用基于A~*算法和末端轨迹跟随的可重构运动规划方法,将运动规划分解为末端路径规划和机器人各关节对轨迹的跟随问题,并验证算法的可重构性。采用具有特定运动学形式的机器人模型进行仿真试验,仿真结果表明,提出的各个机器人的运动规划方法均能有效满足任务需求,且照明机器人的运动规划算法具有可重构性,多机器人系统基于优先级的协同策略能够满足空间在轨装配任务需求。
A multi-robot cooperative motion planning method based on priority is proposed for space on-orbit assembly task. The multi-robot system is composed of a 7-DOF manipulator and a 13-DOF super redundant lighting robot. Two methods are used to plan high-priority manipulators: off-line path planning from point to point within configuration space and on-line motion planning in Cartesian space based on pseudo-inverse. For the low-priority super-redundant lighting robot, the manipulator is regarded as a known obstacle, and a reconfigurable motion planning method based on A~* algorithm and trajectory tracking is proposed. The motion planning is decomposed into path planning and tip-following, and the reconfiguration of the algorithm is verified. Simulation experiment is conducted with two robot kinematics models. Simulation results show that the motion planning method of each robot can meet the task requirements effectively, the motion planning algorithm of lighting robot is reconfigurable. The cooperative strategy based on priority of multi-robot system can meet the requirements of space on-orbit assembly task.
A multi-robot cooperative motion planning method based on priority is proposed for space on-orbit assembly task. The multi-robot system is composed of a 7-DOF manipulator and a 13-DOF super redundant lighting robot. Two methods are used to plan high-priority manipulators: off-line path planning from point to point within configuration space and on-line motion planning in Cartesian space based on pseudo-inverse. For the low-priority super-redundant lighting robot, the manipulator is regarded as a known obstacle, and a reconfigurable motion planning method based on A~* algorithm and trajectory tracking is proposed. The motion planning is decomposed into path planning and tip-following, and the reconfiguration of the algorithm is verified. Simulation experiment is conducted with two robot kinematics models. Simulation results show that the motion planning method of each robot can meet the task requirements effectively, the motion planning algorithm of lighting robot is reconfigurable. The cooperative strategy based on priority of multi-robot system can meet the requirements of space on-orbit assembly task.
引文
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[2]BENNEWITZ M,BURGARD W,THRUN S.Optimizing schedules for prioritized path planning of multi-robot systems[C]//Proceedings of IEEE International Conference on Robotics and Automation,2001:271-276.
[3]屈云飞,陈卫东,曹其新.面向托卡马克第一壁检测的超冗余机械臂运动学分析[J].上海交通大学学报,2014,48(7):922-928.QU Yunfei,CHEN Weidong,CAO Qixin.Kinematics analysis of hyper-redundant manipulator used for inspection of first wall of tokamak[J].Journal of Shanghai Jiaotong University,2014,48(7):922-928.
[4]ALAVANDAR S,NIGAM M J.Neuro-fuzzy based approach for inverse kinematics solution of industrial robot manipulators[J].International Journal of Computers Communications&Control,2008,3(3):224-234.
[5]NANDA S K,PANDA S,SUBUDHI P R S,et al.A novel application of artificial neural network for the solution of inverse kinematics controls of robotic manipulators[J].International Journal of Intelligent Systems and Applications,2012,4(9):81.
[6]CHIRIKJIAN G S,BURDICK J W.An obstacle avoidance algorithm for hyper-redundant manipulators[C]//Proceedings of IEEE International Conference on Robotics and Automation,1990:625-631.
[7]PALMER D,COBOS-GUZMAN S,AXINTE D.Real-time method for tip following navigation of continuum snake arm robots[J].Robotics&Autonomous Systems,2014,62(10):1478-1485.
[8]CONKUR E S.Path following algorithm for highly redundant manipulators[J].Robotics&Autonomous Systems,2003,45(1):1-22.
[9]王俊刚,汤磊,谷国迎,等.超冗余度机械臂跟随末端轨迹运动算法及其性能分析[J].机械工程学报,2018,54(3):18-25.WANG Jungang,TANG Lei,GU Guoying,et al.Tip-following path planning and its performance analysis for hyper-redundant manipulators[J].Journal of Mechanical Engineering,2018,54(3):18-25.
[10]申浩宇,吴洪涛,陈柏,等.基于主从任务转化的冗余度机器人避障算法[J].机器人,2014,36(4):425-429.SHEN Haoyu,WU Hongtao,CHEN Bo,et al.Obstacle avoidance algorithm for redundant robots based on transition between the primary and secondary tasks[J].Robot,2014,36(4):425-429.
[11]王梅.多关节自治机器人系统分布式协作运动规划方法研究[D].杭州:浙江大学,2007.WANG Mei.Distributed cooperative motion planning for autonomous multi-joint robot system[D].Hangzhou:Zhejiang University,2007.
[12]张文佳,尚伟伟.2自由度绳索牵引并联机器人的高速点到点轨迹规划方法[J].机械工程学报,2016,52(3):1-8.ZHANG Wenjia,SHANG Weiwei.High-speed point-to-point trajectory planning of a 2-DOF cable driven parallel manipulator[J].Journal of Mechanical Engineering,2016,52(3):1-8.
[13]XU W,LIU Y,LIANG B,et al.Autonomous path planning and experiment study of free-floating space robot for target capturing[J].Journal of Intelligent&Robotic Systems,2008,51(3):303-331.
[14]XU W.F,LI C,LIANG B,et al.The Cartesian path planning of free-floating space robot using particle swarm optimization[J].International Journal of Advanced Robotic Systems,2008,5(3):301-331.
[15]贾庆轩,陈钢,孙汉旭,等.基于A*算法的空间机械臂避障路径规划[J].机械工程学报,2010,46(13):109-115.JIA Qingxuan,CHEN Gang,SUN Hanxu,et al.Path planning for space manipulator to avoid obstacle based on A*algorithm[J].Journal of Mechanical Engineering,2010,46(13):109-115.
[16]毛征宇,刘中坚.一种三次均匀B样条曲线的轨迹规划方法[J].中国机械工程,2010,21(21):2569-2572,2577.MAO Zhengyu,LIU Zhongjian.A trajectory planning method for cubic uniform B-spline curve[J].China Mechnical Engineering,2010,21(21):2569-2572,2577.