摘要
将判断机器人杆件与环境中物体是否会发生碰撞的问题转化为求解中心线上各点与障碍物表面各点间的最小距离问题,从而用中心线上各点在自运动过程中远离碰撞危险点的距离描述避障成功的概率。中心线上各点避障成功概率的加权均值刻画手臂的避障能力,且只与机构参数和末端操作器位姿有关,是机构固有的性能,将其定义为避障商。位姿工作空间中的每一个点均对应一个避障商,避障商以操作任务在工作空间内分布的概率密度为权值在全工作空间求取加权均值得到全局避障商。全局避障商衡量了机器人在全工作空间内的综合避障能力。作为该避障能力指标的实践,求解一种7自由度冗余手臂在两类情况下的避障商,最后分析杆件长度对全局避障商的影响。
The problem of estimating collision between the robot links and the object in environment is translated into solving the minimum distance between the points on the link center lines and on the objects＇ surface, so the successful probability to avoid collision is expressed by the distance between center lines and obstacle during self-motion process. The weighted average of all points on center lines, defined as collision-avoidance quotient （CAQ） The robot＇s capability in collision-avoidance is represented, which depends only upon the robot＇s structural parameters and the pose of the end-effector. Any pose of end-effector has an individual CAQ. The average of CAQs in the workspace with weight of the distribution probability of tasks is defined as global collision-avoidance quotient （GCAQ）, which represents the robot＇s global capability of collision-avoidance in the workspace. As an example, the GCAQ of a 7-DOF redundant manipulator is calculated for two cases. Finally the influence oft.he links＇ dimension on GCAQ is analyzed.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2007年第5期223-229,共7页
Journal of Mechanical Engineering
关键词
冗余度机器人
自运动
避障能力
避障商
Redundant robot
Self-motion
Capability of collision-avoidance
Collision-avoidance quotient
