论文标题
7-DOF多余的操纵器的实时全身避免避免
Real-time Whole-body Obstacle Avoidance for 7-DOF Redundant Manipulators
论文作者
论文摘要
主要是由于计算成本很高，冗余机器人的实时全身障碍避免尚未得到很好的实施。本文提出了一种方法，该方法可以确保冗余操纵器的整体可以避免在执行任务期间实时移动障碍。操纵器分为最终效应器和非末端效用部分。基于动力学系统（DS），获得了实时最终效应障碍物的回避。此外，最终效果可以达到给定的目标。通过使用零空间速度控制，可以实现实时的非效应障碍物避免。最后，控制器旨在确保避免全身障碍物。我们验证了该方法在UBTECH类人生物机器人的7-DOF臂上的模拟和实验中的有效性。
Mainly because of the heavy computational costs, the real-time whole-body obstacle avoidance for the redundant manipulators has not been well implemented. This paper presents an approach that can ensure that the whole-body of a redundant manipulator can avoid moving obstacles in real-time during the execution of a task. The manipulator is divided into end-effector and non-end-effector portion. Based on dynamical systems (DS), the real-time end-effector obstacle avoidance is obtained. Besides, the end-effector can reach the given target. By using null-space velocity control, the real-time non-endeffector obstacle avoidance is achieved. Finally, a controller is designed to ensure the whole-body obstacle avoidance. We validate the effectiveness of the method in the simulations and experiments on the 7-DOF arm of the UBTECH humanoid robot.
