摘要
近年来,拟人化双臂机器人的发展突飞猛进,基于不同算法的机械臂避障运动规划和拟人化双臂间的高效协同操作等都是近几年的研究热点。在人机共融场景下,机器人需要具有拟人化的结构形态、运动轨迹和操作策略,以此增强其与人之间的交互性。解决移动机器人双臂运动规划问题通常采用基于人工势场法、随机采样、启发式搜索、轨迹优化等规划方法。拟人化双臂协同操作规划的核心在于操作策略的求解。根据任务规划与运动规划之间的运行方式不同,把双臂动态任务的分配分为基于几何约束的任务规划和基于几何回溯的任务规划。拟人化运动规划算法及求解最优操作策略是当前需解决的主要问题。
In recent years,the development of anthropomorphic dual-arm robot has made rapid progress.Obstacle avoidance motion planning of robot arms based on different algorithms and efficient cooperative operation between anthropomorphic arms are the research focuses in recent years.In human-machine integration scenarios,robots need to have anthropomorphic structural forms,motion trajectories,and operational strategies to enhance interaction with humans.To solve the problem of mobile robots’dual-arm motion planning,planning methods such as artificial potential field method,random sampling,heuristic search and trajectory optimization are usually used.The core of anthropomorphic dual-arm cooperative operation planning lies in the solution of operation strategy.According to the different operation modes between task planning and motion planning,the assignment of dual arm dynamic tasks can be divided into task planning based on geometric constraints and task planning based on geometric backtracking.Anthropomorphic motion planning algorithm and optimal operation strategy are the main problems to be solved at present.
作者
吕君
LYU Jun(School of Mechanical and Electrical Information,Yiwu Industrial&Commercial College,Jinh ua 322000,China)
出处
《湖州职业技术学院学报》
2023年第2期74-80,共7页
Journal of Huzhou Vocational and Technological College
基金
2022年度金华市公益性技术应用研究项目“面向家庭服务仿人双臂机器人协作运动设计研究”(2022-4-305)的研究成果之一。
关键词
拟人化双臂机器人
运动规划
协同操作
anthropomorphic dual-arm robot
motion planning
collaborative operations
作者简介
吕君(1980-),女,浙江东阳人,副教授,机械制造及其自动化博士,主要从事机器人运动学和动力学建模与控制研究。
