n-DOF 机械手的实时协同防撞保证

IF 1.9 4区 计算机科学 Q3 ROBOTICS Robotica Pub Date : 2024-09-16 DOI:10.1017/s0263574724001334
Erick J. Rodríguez-Seda, Michael D. M. Kutzer
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引用次数: 0

摘要

本文提出了一种针对机器人机械手的分散、合作、实时避让控制策略。所提出的避让控制法则建立在人工势场函数概念的基础上,与传统的基于势的控制器相比,对最小安全距离提供了更严格的约束。此外,所提出的规避控制法则是以解析的连续闭合形式给出的,避免了优化技术和离散算法的使用,并经严格证明可保证在任何时候都能规避碰撞。举例说明了在所提出的规避控制下带有圆柱形链接的平面和三维机械手,并与用多个球体对链接和障碍物进行建模的传统方法进行了比较。结果表明,与传统方法相比,所提出的回避控制法一般能实现更快的收敛速度、更小的跟踪误差和更低的控制扭矩。此外,我们还将回避控制扩展到了具有有界控制力矩的机器人操纵器上。
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Guaranteed real-time cooperative collision avoidance for n-DOF manipulators

This paper presents a decentralized, cooperative, real-time avoidance control strategy for robotic manipulators. The proposed avoidance control law builds on the concepts of artificial potential field functions and provides tighter bounds on the minimum safe distance when compared to traditional potential-based controllers. Moreover, the proposed avoidance control law is given in analytical, continuous closed form, avoiding the use of optimization techniques and discrete algorithms, and is rigorously proven to guarantee collision avoidance at all times. Examples of planar and 3D manipulators with cylindrical links under the proposed avoidance control are given and compared with the traditional approach of modeling links and obstacles with multiple spheres. The results show that the proposed avoidance control law can achieve, in general, faster convergence, smaller tracking errors, and lower control torques than the traditional approach. Furthermore, we provide extensions of the avoidance control to robotic manipulators with bounded control torques.

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来源期刊
Robotica
Robotica 工程技术-机器人学
CiteScore
4.50
自引率
22.20%
发文量
181
审稿时长
9.9 months
期刊介绍: Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.
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