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计算机系统应用英文版:2016,25(12):169-175

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基于区域限定的奇异位置避免规划算法

吕永军^1,2, 刘峰^2,3, 郑飂默^2,3, 吴文江^2,3, 朱良^1,2, 葛小川^1,2

(1.中国科学院大学, 北京 100049;2.中国科学院大学沈阳计算技术研究所, 沈阳 110171;3.沈阳高精数控智能技术股份有限公司, 沈阳 110171)

Singularity Avoidance Planning Algorithm Based on the Identification of Singular Configurations

LV Yong-Jun^1,2, LIU Feng^2,3, ZHENG Liao-Mo^2,3, WU Wen-Jiang^2,3, ZHU Liang^1,2, GE Xiao-Chuan^1,2

(1.University of Chinese Academy of Sciences, Beijing 100049, China;2.Shenyang Institute of Computing Technology, University of Chinese Academy of Sciences, Shenyang 100171, China;3.Shenyang Golding NC Intelligent Tech. Co. Ltd., Shenyang 100171, China)

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本文已被：浏览 1204次下载 2252次
Received:March 24, 2016 Revised:May 05, 2016

中文摘要: 目前人们关于奇异位形的处理研究主要包括两大类，一类是研究如何避免，一类是研究如何通过奇异点.在分析了国内外关于奇异位形的研究基础上，本文提出了基于空间区域限定的奇异位置避免算法.其核心思想就是预先对机器人运动轨迹进行规划，给出了奇异位置及邻近奇异位置的区域划分方法，从而保证在笛卡尔空间规划时能规划出一合理的插值点，同时也基于高次多项式曲线理论对关节空间规划做了优化，保证了关节和末端运动的连续性、稳定性等.通过6轴机械臂在四五六关节时的奇异为实例，运用该算法对奇异的处理做了实例分析.然后通过给定初始点和目标点的位姿等参数，定时采样数据，并利用MATLAB对规划前后获得的数据进行了图形仿真，验证了该算法的正确性和可行性.

中文关键词: 机器人轨迹规划奇异位形极限位置

Abstract:This paper firstly summarizes the research on the singularity in the past.One is the study of how to avoid it,the other is the study of how to pass the singular point.On the basis of previous studies,a new method is proposed to avoid the singular location based on the space region limited.The main point is to pre-plan the motion trajectory of the robot,and then give a method about how to differentiate the singular position and the adjacent singular position to ensure that a reasonable interpolation point can be planned during the Cartesian space planning.Meanwhile,based on the higher order polynomial theory,joint space planning is optimized to ensure the continuity and stability of joint and terminal motion.Taking 6 axis manipulator in wrist joint singular as an example,we use the proposed algorithm to analyze the process of the singular position.Given the parameters such as the initial point and the target point,the data obtained is simulated graphically in MATLAB,and the correctness and feasibility of the algorithm are verified.

keywords: robot trajectory planning singular configuration extreme position

文章编号： 中图分类号： 文献标志码：

基金项目:国产高档数控机床、系统及其技术在航空领域的综合应用验证及工艺研究（2014ZX04001051）

Author Name	Affiliation
LV Yong-Jun	University of Chinese Academy of Sciences, Beijing 100049, China Shenyang Institute of Computing Technology, University of Chinese Academy of Sciences, Shenyang 100171, China
LIU Feng	Shenyang Institute of Computing Technology, University of Chinese Academy of Sciences, Shenyang 100171, China Shenyang Golding NC Intelligent Tech. Co. Ltd., Shenyang 100171, China
ZHENG Liao-Mo	Shenyang Institute of Computing Technology, University of Chinese Academy of Sciences, Shenyang 100171, China Shenyang Golding NC Intelligent Tech. Co. Ltd., Shenyang 100171, China
WU Wen-Jiang	Shenyang Institute of Computing Technology, University of Chinese Academy of Sciences, Shenyang 100171, China Shenyang Golding NC Intelligent Tech. Co. Ltd., Shenyang 100171, China
ZHU Liang	University of Chinese Academy of Sciences, Beijing 100049, China Shenyang Institute of Computing Technology, University of Chinese Academy of Sciences, Shenyang 100171, China
GE Xiao-Chuan	University of Chinese Academy of Sciences, Beijing 100049, China Shenyang Institute of Computing Technology, University of Chinese Academy of Sciences, Shenyang 100171, China

Author Name	Affiliation
LV Yong-Jun	University of Chinese Academy of Sciences, Beijing 100049, China Shenyang Institute of Computing Technology, University of Chinese Academy of Sciences, Shenyang 100171, China
LIU Feng	Shenyang Institute of Computing Technology, University of Chinese Academy of Sciences, Shenyang 100171, China Shenyang Golding NC Intelligent Tech. Co. Ltd., Shenyang 100171, China
ZHENG Liao-Mo	Shenyang Institute of Computing Technology, University of Chinese Academy of Sciences, Shenyang 100171, China Shenyang Golding NC Intelligent Tech. Co. Ltd., Shenyang 100171, China
WU Wen-Jiang	Shenyang Institute of Computing Technology, University of Chinese Academy of Sciences, Shenyang 100171, China Shenyang Golding NC Intelligent Tech. Co. Ltd., Shenyang 100171, China
ZHU Liang	University of Chinese Academy of Sciences, Beijing 100049, China Shenyang Institute of Computing Technology, University of Chinese Academy of Sciences, Shenyang 100171, China
GE Xiao-Chuan	University of Chinese Academy of Sciences, Beijing 100049, China Shenyang Institute of Computing Technology, University of Chinese Academy of Sciences, Shenyang 100171, China

引用文本：
吕永军,刘峰,郑飂默,吴文江,朱良,葛小川.基于区域限定的奇异位置避免规划算法.计算机系统应用,2016,25(12):169-175
LV Yong-Jun,LIU Feng,ZHENG Liao-Mo,WU Wen-Jiang,ZHU Liang,GE Xiao-Chuan.Singularity Avoidance Planning Algorithm Based on the Identification of Singular Configurations.COMPUTER SYSTEMS APPLICATIONS,2016,25(12):169-175