Industrial Robot最新文献_第5页

Model-free visual servoing based on active disturbance rejection control and adaptive estimator for robotic manipulation without calibration 基于主动干扰抑制控制和自适应估计器的无模型视觉伺服，用于无需校准的机器人操纵

Industrial Robot

Pub Date : 2024-05-21 DOI: 10.1108/ir-12-2023-0347

Jun Tian, Xungao Zhong, Xiafu Peng, Huosheng Hu, Qiang Liu

Purpose

Visual feedback control is a promising solution for robots work in unstructured environments, and this is accomplished by estimation of the time derivative relationship between the image features and the robot moving. While some of the drawbacks associated with most visual servoing (VS) approaches include the vision–motor mapping computation and the robots’ dynamic performance, the problem of designing optimal and more effective VS systems still remains challenging. Thus, the purpose of this paper is to propose and evaluate the VS method for robots in an unstructured environment.

Design/methodology/approach

This paper presents a new model-free VS control of a robotic manipulator, for which an adaptive estimator aid by network learning is proposed using online estimation of the vision–motor mapping relationship in an environment without the knowledge of statistical noise. Based on the adaptive estimator, a model-free VS schema was constructed by introducing an active disturbance rejection control (ADRC). In our schema, the VS system was designed independently of the robot kinematic model.

Findings

The various simulations and experiments were conducted to verify the proposed approach by using an eye-in-hand robot manipulator without calibration and vision depth information, which can improve the autonomous maneuverability of the robot and also allow the robot to adapt its motion according to the image feature changes in real time. In the current method, the image feature trajectory was stable in the camera field range, and the robot’s end motion trajectory did not exhibit shock retreat. The results showed that the steady-state errors of image features was within 19.74 pixels, the robot positioning was stable within 1.53 mm and 0.0373 rad and the convergence rate of the control system was less than 7.21 s in real grasping tasks.

Originality/value

Compared with traditional Kalman filtering for image-based VS and position-based VS methods, this paper adopts the model-free VS method based on the adaptive mapping estimator combination with the ADRC controller, which is effective for improving the dynamic performance of robot systems. The proposed model-free VS schema is suitable for robots’ grasping manipulation in unstructured environments.

目的视觉反馈控制是机器人在非结构化环境中工作的一种有前途的解决方案，它是通过估计图像特征与机器人运动之间的时间导数关系来实现的。虽然大多数视觉伺服（VS）方法都存在一些缺点，包括视觉-电机映射计算和机器人的动态性能，但设计最佳和更有效的视觉伺服系统仍然是一个具有挑战性的问题。因此，本文的目的是提出并评估非结构化环境中的机器人 VS 方法。本文提出了一种新的无模型机器人机械手 VS 控制方法，通过网络学习提出了一种自适应估算器，利用在线估算环境中的视觉-电机映射关系，而无需了解统计噪声。在自适应估计器的基础上，通过引入主动干扰抑制控制（ADRC），构建了无模型 VS 方案。研究结果通过使用无校准和视觉深度信息的手眼机器人操纵器进行了各种模拟和实验，验证了所提出的方法，该方法不仅能提高机器人的自主可操作性，还能让机器人根据图像特征的变化实时调整运动。在目前的方法中，图像特征轨迹在相机场范围内是稳定的，机器人的末端运动轨迹没有出现冲击后退现象。结果表明，在实际抓取任务中，图像特征的稳态误差在 19.74 像素以内，机器人定位稳定在 1.53 mm 和 0.0373 rad 范围内，控制系统的收敛速度小于 7.21 s。原创性/价值与传统卡尔曼滤波的基于图像的 VS 和基于位置的 VS 方法相比，本文采用了基于自适应映射估计器结合 ADRC 控制器的无模型 VS 方法，可有效改善机器人系统的动态性能。所提出的无模型 VS 方案适用于机器人在非结构化环境中的抓取操作。

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引用次数: 0

Pose detection and docking control for autonomous dynamic docking mechanism with non-cooperative targets 非合作目标自主动态对接机制的姿态检测和对接控制

Industrial Robot

Pub Date : 2024-05-21 DOI: 10.1108/ir-11-2023-0287

Gan Zhan, Zhihua Chen, Zhenyu Zhang, Jigang Zhan, Wentao Yu, Jiehao Li

Purpose

This study aims to address the issue of random movement and non coordination between docking mechanisms and locking mechanisms, and proposes a comprehensive dynamic docking control architecture that integrates perception, planning, and motion control.

Design/methodology/approach

Firstly, the proposed dynamic docking control architecture uses laser sensors and a charge-coupled device camera to perceive the pose of the target. The sensor data are mapped to a high-dimensional potential field space and fused to reduce interference caused by detection noise. Next, a new potential function based on multi-dimensional space is developed for docking path planning, which enables the docking mechanism based on Stewart platform to rapidly converge to the target axis of the locking mechanism, which improves the adaptability and terminal docking accuracy of the docking state. Finally, to achieve precise tracking and flexible docking in the final stage, the system combines a self-impedance controller and an impedance control algorithm based on the planned trajectory.

Findings

Extensive simulations and experiments have been conducted to validate the effectiveness of the dynamic docking system and its control architecture. The results indicate that even if the target moves randomly, the system can successfully achieve accurate, stable and flexible dynamic docking.

Originality/value

This research can provide technical guidance and reference for docking task of unmanned vehicles under the ground conditions. It can also provide ideas for space docking missions, such as space simulator docking.

设计/方法/方法首先，所提出的动态对接控制架构使用激光传感器和电荷耦合器件摄像头来感知目标的姿态。传感器数据被映射到一个高维势场空间并进行融合，以减少检测噪声造成的干扰。其次，开发了一种基于多维空间的新势场函数，用于对接路径规划，使基于斯图尔特平台的对接机构快速收敛到锁定机构的目标轴，提高了对接状态的适应性和终端对接精度。最后，为了在最后阶段实现精确跟踪和灵活对接，该系统结合了自阻抗控制器和基于规划轨迹的阻抗控制算法。结果表明，即使目标随机移动，系统也能成功实现精确、稳定和灵活的动态对接。该研究可为无人飞行器在地面条件下的对接任务提供技术指导和参考，也可为太空对接任务（如太空模拟器对接）提供思路。

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引用次数: 0

Real-time collision detection based on external torque mutation suppression and time series analysis 基于外部扭矩突变抑制和时间序列分析的实时碰撞检测

Industrial Robot

Pub Date : 2024-05-17 DOI: 10.1108/ir-12-2023-0338

Tianyi Zhang, Haowu Luo, Ning Liu, Feiyan Min, Zhixin Liang, Gao Wang

Purpose

As the demand for human–robot collaboration in manufacturing applications grows, the necessity for collision detection functions in robots becomes increasingly paramount for safety. Hence, this paper aims to improve the existing method to achieve efficient, accurate and sensitive robot collision detection.

Design/methodology/approach

The external torque is estimated by momentum observers based on the robot dynamics model. Because the state of the joints is more accessible to distinguish under the action of the suppression operator proposed in this paper, the mutated external torque caused by joint reversal can be accurately attenuated. Finally, time series analysis (TSA) methods can continuously generate dynamic thresholds based on external torques.

Findings

Compared with the collision detection method based only on TSA, the invalid time of the proposed method is less during joint reversal. Although the soft-collision detection accuracy of this method is lower than that of the symmetric threshold method, it is superior in terms of detection delay and has a higher hard-collision detection accuracy.

Originality/value

Owing to the mutated external torque caused by joint reversal, which seriously affects the stability of time series models, the collision detection method based only on TSA cannot detect continuously. The consequences are disastrous if the robot collides with people or the environment during joint reversal. After multiple experimental verifications, the proposed method still exhibits detection capabilities during joint reversal and can implement real-time collision detection. Therefore, it is suitable for various engineering applications.

目的随着制造应用中人机协作需求的增长，机器人碰撞检测功能的安全性变得越来越重要。因此，本文旨在改进现有方法，以实现高效、准确和灵敏的机器人碰撞检测。由于在本文提出的抑制算子作用下，关节的状态更容易分辨，因此可以准确地减弱关节反转引起的外部扭矩突变。最后，时间序列分析（TSA）方法可以根据外部扭矩持续生成动态阈值。研究结果与仅基于 TSA 的碰撞检测方法相比，本文提出的方法在关节反转时的无效时间更短。原创性/价值由于关节反转会导致外部扭矩发生变化，严重影响时间序列模型的稳定性，因此仅基于 TSA 的碰撞检测方法无法进行连续检测。如果机器人在关节反转过程中与人或环境发生碰撞，后果不堪设想。经过多次实验验证，所提出的方法在关节反转时仍具有检测能力，可以实现实时碰撞检测。因此，它适用于各种工程应用。

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引用次数: 0

Path planning for robotic fish based on improved RRT* algorithm and dynamic window approach 基于改进的 RRT* 算法和动态窗口方法的机器鱼路径规划

Industrial Robot

Pub Date : 2024-05-17 DOI: 10.1108/ir-12-2023-0349

Yong Fu, Kun Chen, Li He, Hui Tan Wang

Purpose

The purpose of this paper is to address two major challenges faced by robotic fish when operating in underwater environments: insufficient path planning capabilities and difficulties in avoiding dynamic obstacles. To achieve this, a method is proposed that combines the Improved Rapid Randomized Tree Star (IRRT*) with the dynamic window approach (DWA).

Design/methodology/approach

The RRT-connect algorithm is used to determine an initial feasible path quickly. The quality of sampling points is then improved by dividing the regions and selecting each region’s probability based on its fitness value. The fitness function and roulette wheel method are introduced for region selection. Subtarget points of the DWA algorithm are extracted from the IRRT* algorithm to achieve real-time dynamic path planning.

Findings

In various maps, the iteration count for the IRRT* algorithm decreased by 61%, 35% and 51% respectively, compared to the RRT* algorithm, whereas the iteration time was reduced by 75%, 34% and 57%, respectively. In addition, the IRRT*-DWA algorithm can successfully navigate through multiple dynamic obstacles, and the average time, path length, etc. do not change much when parameters change, and the stability is high.

Originality/value

A novel IRRT*-DWA algorithm is proposed, which, by refining the sampling strategy and updating sub-target points in real time, not only addresses the limitations of existing algorithms in terms of path planning efficiency in complex environments but also enhances their capability to avoid dynamic obstacles. Ultimately, experimental results indicate a high level of similarity between the actual and ideal paths.

本文旨在解决机器鱼在水下环境中作业时面临的两大挑战：路径规划能力不足和难以避开动态障碍物。为此，本文提出了一种将改进的快速随机树星（IRRT*）与动态窗口法（DWA）相结合的方法。然后通过划分区域并根据每个区域的适配值选择其概率来提高采样点的质量。在区域选择中引入了适度函数和轮盘法。在各种地图中，IRRT*算法的迭代次数比 RRT* 算法分别减少了 61%、35% 和 51%，而迭代时间则分别减少了 75%、34% 和 57%。此外，IRRT*-DWA 算法能成功穿越多个动态障碍物，且参数变化时平均时间、路径长度等变化不大，稳定性高。原创性/价值提出了一种新型 IRRT*-DWA 算法，该算法通过改进采样策略和实时更新子目标点，不仅解决了现有算法在复杂环境下路径规划效率的局限性，还增强了其避开动态障碍物的能力。最终，实验结果表明，实际路径与理想路径之间具有高度的相似性。

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引用次数: 0

Research on improved active disturbance rejection control strategy for hydraulic-driven Stewart stabilization platform 液压驱动 Stewart 稳定平台的改进型主动干扰抑制控制策略研究

Industrial Robot

Pub Date : 2024-05-16 DOI: 10.1108/ir-03-2024-0086

Xingyu Qu, Zhenyang Li, Qilong Chen, Chengkun Peng, Qinghe Wang

Purpose

In response to the severe lag in tracking the response of the Stewart stability platform after adding overload, as well as the impact of nonlinear factors such as load and friction on stability accuracy, a new error attenuation function and a parallel stable platform active disturbance rejection control (ADRC) strategy combining cascade extended state observer (ESO) are proposed.

Design/methodology/approach

First, through kinematic modeling of the Stewart platform, the relationship between the desired pose and the control quantities of the six hydraulic cylinders is obtained. Then, a linear nonlinear disturbance observer was established to observe noise and load, to enhance the system’s anti-interference ability. Finally, verification was conducted through simulation.

Findings

Finally, stability analysis was conducted on the cascaded observer. Experiments were carried out on a parallel stable platform with six degrees of freedom involving rotation and translation. In comparison to traditional PID and ADRC control methods, the proposed control strategy not only endows the stable platform with strong antiload disturbance capability but also exhibits faster response speed and higher stability accuracy.

Originality/value

A new error attenuation function is designed to address the lack of smoothness at d in the error attenuation function of the ADRC controller, reducing the system ripple caused by it. Finally, a combination of linear and nonlinear ESOs is introduced to enhance the system's response speed and its ability to observe noise and load disturbances. Stability analysis of the cascade observer is carried out, and experiments are conducted on a six-degree-of-freedom parallel stable platform with both rotational and translational motion.

设计/方法/方法首先，通过对 Stewart 平台进行运动学建模，得到了期望姿态与六个液压缸控制量之间的关系。然后，建立了线性非线性干扰观测器来观测噪声和负载，以增强系统的抗干扰能力。最后，对级联观测器进行了稳定性分析。实验是在一个具有六个自由度（包括旋转和平移）的平行稳定平台上进行的。与传统的 PID 和 ADRC 控制方法相比，所提出的控制策略不仅使稳定平台具有很强的抗干扰能力，而且响应速度更快，稳定性精度更高。原创性/价值针对 ADRC 控制器误差衰减函数中 d 处缺乏平滑性的问题，设计了一种新的误差衰减函数，以减少由其引起的系统纹波。最后，还引入了线性和非线性 ESO 组合，以提高系统的响应速度以及观察噪声和负载干扰的能力。对级联观测器进行了稳定性分析，并在具有旋转和平移运动的六自由度平行稳定平台上进行了实验。

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引用次数: 0

Structural design and coupling analysis of multimode variable coupling parallel mobile robots 多模可变耦合并联移动机器人的结构设计和耦合分析

Industrial Robot

Pub Date : 2024-05-14 DOI: 10.1108/ir-01-2024-0011

Yiwen Jiang, Chunyan Zhang

Purpose

There is coupling between the branches of mobile parallel robots, similar to traditional parallel mechanisms, but there is currently relatively little research on the coupling problem between the branches of mobile parallel robots.

Design/methodology/approach

This study optimizes the coupling analysis method of traditional parallel mechanisms, treats the mobile parallel mechanism as a whole, takes the motion of the active pair as input and the overall motion of the mobile parallel mechanism as output and analyzes the input–output characteristics of the mobile parallel mechanism. Moreover, this study applies this theory to a mobile parallel mechanism, designs control logic and finally conducts simulation and physical verification.

Findings

This study proposes a coupling analysis method suitable for parallel mobile robots and designs the control logic of their active pair based on the results of their coupling analysis. This study designs a multimode variable coupling parallel mobile robot, which can change the coupling of the mechanism by changing its own branch chain structure, so that it can switch between different coupling configurations to meet the different needs brought by different terrains.

Originality/value

The work presented in this paper propose a method for analyzing the coupling of mobile parallel robots and simplify their control logic by applying coupling theory to the design of mobile parallel robots. This study conducts simulation and physical experiments, thereby filling the gap in the coupling analysis of parallel mobile robots and laying the foundation for the research of uncoupled parallel mobile robots.

目的与传统并联机构类似，移动并联机器人各分支之间也存在耦合，但目前对移动并联机器人各分支之间耦合问题的研究相对较少。设计/方法/途径本研究优化了传统并联机构的耦合分析方法，将移动并联机构视为一个整体，以主动对的运动作为输入，以移动并联机构的整体运动作为输出，分析移动并联机构的输入输出特性。本研究提出了一种适用于并联移动机器人的耦合分析方法，并根据耦合分析结果设计了其主动对的控制逻辑。本研究设计了一种多模可变耦合并联移动机器人，它可以通过改变自身的支链结构来改变机构的耦合度，从而在不同的耦合配置之间进行切换，以满足不同地形带来的不同需求。本研究通过仿真和物理实验，填补了并联移动机器人耦合分析的空白，为非耦合并联移动机器人的研究奠定了基础。

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引用次数: 0

A trajectory planning method for robotic arms based on improved dynamic motion primitives 基于改进的动态运动基元的机械臂轨迹规划方法

Industrial Robot

Pub Date : 2024-05-13 DOI: 10.1108/ir-12-2023-0322

Xiaohui Jia, Bin Zhao, Jinyue Liu, Shaolong Zhang

Purpose

Traditional robot arm trajectory planning methods have problems such as insufficient generalization performance and low adaptability. This paper aims to propose a method to plan the robot arm’s trajectory using the trajectory learning and generalization characteristics of dynamic motion primitives (DMPs).

Design/methodology/approach

This study aligns multiple demonstration motion primitives using dynamic time warping; use the Gaussian mixture model and Gaussian mixture regression methods to obtain the ideal primitive trajectory actions. By establishing a system model that improves DMPs, the parameters of the nonlinear function are learned based on the ideal primitive trajectory actions of the robotic arm, and the robotic arm motion trajectory is reproduced and generalized.

Findings

Experiments have proven that the robot arm motion trajectory learned by the method proposed in this article can not only learn to generalize and demonstrate the movement trend of the primitive trajectory, but also can better generate ideal motion trajectories and avoid obstacles when there are obstacles. The maximum Euclidean distance between the generated trajectory and the demonstration primitive trajectory is reduced by 29.9%, and the average Euclidean distance is reduced by 54.2%. This illustrates the feasibility of this method for robot arm trajectory planning.

Originality/value

It provides a new method for the trajectory planning of robotic arms in unstructured environments while improving the adaptability and generalization performance of robotic arms in trajectory planning.

目的传统的机械臂轨迹规划方法存在泛化性能不足、适应性不强等问题。本文旨在提出一种利用动态运动基元（DMPs）的轨迹学习和泛化特性来规划机械臂轨迹的方法。设计/方法/途径本研究利用动态时间扭曲对多个演示运动基元进行对齐；使用高斯混合模型和高斯混合回归方法来获得理想的基元轨迹动作。实验结果实验证明，利用本文提出的方法学习的机械臂运动轨迹不仅能学习概括和演示基元轨迹的运动趋势，而且能更好地生成理想的运动轨迹，并在有障碍物时避开障碍物。生成轨迹与演示原始轨迹之间的最大欧氏距离减少了 29.9%，平均欧氏距离减少了 54.2%。原创性/价值它为非结构化环境中的机械臂轨迹规划提供了一种新方法，同时提高了机械臂在轨迹规划中的适应性和泛化性能。

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引用次数: 0

Design and optimization of lower limb exoskeleton based on multi-axis knee joint 基于多轴膝关节的下肢外骨骼的设计与优化

Industrial Robot

Pub Date : 2024-05-10 DOI: 10.1108/ir-09-2023-0198

Jintian Yun, Deqiang Zhang, Weisheng Cui, Shuai Li, Guan Miao

Purpose

The purpose of this paper is to improve the problem of kinematics incompatibility of human–exoskeleton in the existing rigid lower-limb exoskeleton (LLE).

Design/methodology/approach

In this paper, following an introduction, the motion characteristics of the human knee joint and the design method of the exoskeleton were introduced. A kinematics model of the LLE based on cross-four-bar linkage was obtained. The structural parameters of the LLE mechanism were optimized by the particle swarm optimization algorithm. The predefined trajectories used in the optimization process were derived from the ankle joint, not the instantaneous center of rotation of the knee joint. Finally, the motion deviation of the optimization result was simulated, and the human–exoskeleton coordination experiment was designed to compare with the traditional single-axis knee joint in terms of comfort and coordination.

Findings

The lower limb exoskeleton mechanism obtained in this paper has a good tracking effect on human movement and has been improved in terms of comfort and coordination compared with the traditional single-axis knee joint.

Originality/value

The customized exoskeleton design method introduced in this paper is relatively simple, and the obtained exoskeleton has better movement coordination than the traditional exoskeleton. It can provide a reference for the design of lower limb exoskeleton and lower limb orthosis.

目的本文旨在改善现有刚性下肢外骨骼（LLE）中人体-外骨骼运动学不兼容的问题。基于交叉-四杆联动，得到了 LLE 的运动学模型。利用粒子群优化算法对 LLE 机构的结构参数进行了优化。优化过程中使用的预定轨迹来自踝关节，而非膝关节的瞬时旋转中心。最后，模拟了优化结果的运动偏差，并设计了人-外骨骼协调性实验，与传统单轴膝关节在舒适性和协调性方面进行了比较。原创性/价值本文介绍的定制化外骨骼设计方法相对简单，所获得的外骨骼比传统外骨骼具有更好的运动协调性。可为下肢外骨骼和下肢矫形器的设计提供参考。

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引用次数: 0

Accurate kinematic calibration of a six-DoF serial robot by using hybrid models with reduced dimension and minimized linearization errors 利用维度减少和线性化误差最小化的混合模型，对六道阵串行机器人进行精确的运动学校准

Industrial Robot

Pub Date : 2024-05-07 DOI: 10.1108/ir-01-2024-0029

Zhouxiang Jiang, Shiyuan Chen, Yuchen Zhao, Zhongjie Long, Bao Song, Xiaoqi Tang

Purpose

In typical model-based calibration, linearization errors are derived inevitably, and non-negligible negative impact will be induced on the identification results if the rotational kinematic errors are not small enough or the lengths of links are too long, which is common in the industrial cases. Thus, an accurate two-step kinematic calibration method minimizing the linearization errors is presented for a six-DoF serial robot to improve the calibration accuracy.

Design/methodology/approach

The negative impact of linearization on identification accuracy is minimized by removing the responsible linearized kinematic errors from the complete kinematic error model. Accordingly, the identification results of the dimension-reduced new model are accurate but not complete, so the complete kinematic error model, which achieves high identification accuracy of the rest of the error parameters, is combined with this new model to create a two-step calibration procedure capable of highly accurate identification of all the kinematic errors.

Findings

The proportions of linearization errors in measured pose errors are quantified and found to be non-negligible with the increase of rotational kinematic errors. Thus, negative impacts of linearization errors are analyzed quantitatively in different cases, providing the basis for allowed kinematic errors in the new model. Much more accurate results were obtained by using the new two-step calibration method, according to a comparison with the typical methods.

Originality/value

This new method achieves high accuracy with no compromise on completeness, is easy to operate and is consistent with the typical method because the second step with the new model is conveniently combined without changing the sensors or measurement instrument setup.

目的在典型的基于模型的标定中，线性化误差是不可避免的，如果旋转运动学误差不够小或链接长度过长，就会对识别结果产生不可忽略的负面影响，这在工业案例中很常见。设计/方法/途径通过从完整的运动学误差模型中剔除线性化运动学误差，将线性化运动学误差对识别精度的负面影响降至最低。因此，将对其余误差参数实现高识别精度的完整运动学误差模型与该新模型相结合，创建了一个能够高精度识别所有运动学误差的两步校准程序。因此，对不同情况下线性化误差的负面影响进行了定量分析，为新模型中允许的运动学误差提供了依据。根据与典型方法的比较，使用新的两步校准法得到的结果要精确得多。原创性/价值这一新方法在不影响完整性的情况下实现了高精度，易于操作，并且与典型方法一致，因为第二步与新模型的结合非常方便，无需改变传感器或测量仪器的设置。

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引用次数: 0

3D-AMM: a 3D artificial moment method for path planning of manipulator in multiple obstacles scenario 3D-AMM：用于多障碍物情况下机械手路径规划的 3D 人工矩方法

Industrial Robot

Pub Date : 2024-05-07 DOI: 10.1108/ir-11-2023-0307

Andong Liu, Yawen Zhang, Jiayun Fu, Yuankun Yan, Wen-An Zhang

Purpose

In response to the issue of traditional algorithms often falling into local minima or failing to find feasible solutions in manipulator path planning. The purpose of this paper is to propose a 3D artificial moment method (3D-AMM) for obstacle avoidance for the robotic arm's end-effector.

Design/methodology/approach

A new method for constructing temporary attractive points in 3D has been introduced using the vector triple product approach, which generates the attractive moments that attract the end-effector to move toward it. Second, distance weight factorization and spatial projection methods are introduced to improve the solution of repulsive moments in multiobstacle scenarios. Third, a novel motion vector-solving mechanism is proposed to provide nonzero velocity for the end-effector to solve the problem of limiting the solution of the motion vector to a fixed coordinate plane due to dimensionality constraints.

Findings

A comparative analysis was conducted between the proposed algorithm and the existing methods, the improved artificial potential field method and the rapidly-random tree method under identical simulation conditions. The results indicate that the 3D-AMM method successfully plans paths with smoother trajectories and reduces the path length by 20.03% to 36.9%. Additionally, the experimental comparison outcomes affirm the feasibility and effectiveness of this method for obstacle avoidance in industrial scenarios.

Originality/value

This paper proposes a 3D-AMM algorithm for manipulator path planning in Cartesian space with multiple obstacles. This method effectively solves the problem of the artificial potential field method easily falling into local minimum points and the low path planning success rate of the rapidly-exploring random tree method.

目的针对机械手路径规划中传统算法经常陷入局部最小值或找不到可行解决方案的问题，本文提出了用于机械手末端执行器避障的三维人工力矩法（3D-AMM）。本文旨在提出一种用于机械臂末端执行器避障的三维人工力矩法（3D-AMM）。设计/方法/途径首先，采用矢量三乘法引入了在三维空间构建临时吸引点的新方法，从而产生吸引末端执行器向其移动的吸引力矩。其次，引入了距离权因子化和空间投影方法，以改进多障碍场景中排斥力矩的求解。第三，提出了一种新的运动矢量求解机制，为末端执行器提供非零速度，以解决由于维度限制而将运动矢量的求解限制在固定坐标平面的问题。研究结果在相同的模拟条件下，对所提出的算法与现有方法、改进的人工势场方法和快速随机树方法进行了比较分析。结果表明，3D-AMM 方法成功地规划出了轨迹更平滑的路径，并将路径长度减少了 20.03% 至 36.9%。此外，实验对比结果也证实了该方法在工业场景中避开障碍物的可行性和有效性。原创性/价值本文提出了一种三维-AMM 算法，用于笛卡尔空间中具有多个障碍物的机械手路径规划。该方法有效解决了人工势场法易陷入局部最小点和快速探索随机树法路径规划成功率低的问题。

{"title":"3D-AMM: a 3D artificial moment method for path planning of manipulator in multiple obstacles scenario","authors":"Andong Liu, Yawen Zhang, Jiayun Fu, Yuankun Yan, Wen-An Zhang","doi":"10.1108/ir-11-2023-0307","DOIUrl":"https://doi.org/10.1108/ir-11-2023-0307","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>In response to the issue of traditional algorithms often falling into local minima or failing to find feasible solutions in manipulator path planning. The purpose of this paper is to propose a 3D artificial moment method (3D-AMM) for obstacle avoidance for the robotic arm's end-effector.</p>\u0000<h3>Design/methodology/approach</h3>\u0000<p>A new method for constructing temporary attractive points in 3D has been introduced using the vector triple product approach, which generates the attractive moments that attract the end-effector to move toward it. Second, distance weight factorization and spatial projection methods are introduced to improve the solution of repulsive moments in multiobstacle scenarios. Third, a novel motion vector-solving mechanism is proposed to provide nonzero velocity for the end-effector to solve the problem of limiting the solution of the motion vector to a fixed coordinate plane due to dimensionality constraints.</p>\u0000<h3>Findings</h3>\u0000<p>A comparative analysis was conducted between the proposed algorithm and the existing methods, the improved artificial potential field method and the rapidly-random tree method under identical simulation conditions. The results indicate that the 3D-AMM method successfully plans paths with smoother trajectories and reduces the path length by 20.03% to 36.9%. Additionally, the experimental comparison outcomes affirm the feasibility and effectiveness of this method for obstacle avoidance in industrial scenarios.</p>\u0000<h3>Originality/value</h3>\u0000<p>This paper proposes a 3D-AMM algorithm for manipulator path planning in Cartesian space with multiple obstacles. This method effectively solves the problem of the artificial potential field method easily falling into local minimum points and the low path planning success rate of the rapidly-exploring random tree method.</p>","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"51 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140884187","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

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