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          華中科技大學學報(自然科學版) 2020, Vol. 48 Issue (9): 1-6 DOI10.13245/j.hust.200901

          欄目:計算機與控制工程
          雙臂機器人傳接位置選取與路徑規劃方法
          叢明 a , 趙申申 a , 劉冬 a , 杜宇 b
          a. 大連理工大學 機械工程學院,遼寧 大連 116024
          b. 大連大華中天科技有限公司,遼寧 大連 116023
          摘要 為提高物體在機器人雙臂之間的傳接效率,從優化傳接操作過程角度出發,提出了一種傳接位置選取和雙臂移動路徑規劃方法.通過對傳接過程進行分析建立雙臂機器人傳接位置優化模型,將傳接位置選取問題轉變為一個非線性約束優化問題.使用改進的遺傳算法進行求解,為機器人雙臂傳接過程選擇基于時間最佳的傳接位置.在Moveit!規劃框架下,采用雙向快速擴展隨機樹(RRT-Connect)算法完成傳接過程中的雙臂路徑規劃,使得雙臂免于碰撞.利用保存的歷史規劃信息對隨機采樣算法存在的不可重復性問題進行優化,找到耗時最短的雙臂移動路徑.仿真和實驗結果表明:提出的方法可以為機器人雙臂之間的傳接操作找到基于時間最佳的傳接位置,并且為雙臂規劃到達目標傳接位置的近似耗時最短路徑,提高雙臂傳接的效率.
          關鍵詞 雙臂機器人 ;傳接位置 ;改進遺傳算法 ;隨機采樣算法 ;路徑規劃
          Handoff location selecting and path planning for dual-arm robot
          CONG Ming a , ZHAO Shenshen a , LIU Dong a , DU Yu b
          a. School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China
          b. Dalian Dahuazhongtian Technology Co. Ltd.,Dalian 116024,China
          Abstract In order to improve the object transfer efficiency of the dual-arm robot,an optimization method of the handoff location selecting and path planning was proposed.By analyzing the handoff process,the optimization model of handoff location was established for the dual-arm robot.Thus the handoff location selecting problem was transformed into a nonlinear constraint optimization problem.Using the improved genetic algorithm,the time optimization based handoff location was selected.Then the rapidly-exploring random trees connect (RRT-Connect) algorithm was used to plan path for the dual-arm robot in the handoff process.To solve the non-repeatable problem of the random sampling algorithm,the saved historical planning information was used to find the shortest-consuming path.Simulations and experiments results show that the proposed method can find the optimal handoff location for the process,and plans an approximate time-consuming shortest path for both arms and improve the handoff efficiency.
          Keywords dual-arm robot ; handoff location ; improved genetic algorithm ; random sampling algorithm ; path planning
          基金資助國家自然科學基金資助項目(61873045)大連市科技創新基金資助項目(2018J12GX035)中央高?;究蒲袠I務費專項資金資助項目(DUT19JC56)

          中圖分類號TP242
          文獻標志碼A
          文章編號1671-4512(2020)09-0001-06
          參考文獻
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          文獻來源
          叢明, 趙申申, 劉冬, 杜宇. 雙臂機器人傳接位置選取與路徑規劃方法[J]. 華中科技大學學報(自然科學版), 2020, 48(9): 1-6
          DOI:10.13245/j.hust.200901
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