论文标题
使用凸多属的近似机器人可到达空间
Approximating robot reachable space using convex polytopes
论文作者
论文摘要
本文介绍了一种基于凸多塔的机器人操纵器的可到达空间的方法。提出的方法根据机器人的致动限和运动限制预测了给定时间范围内的可触及空间。此外，该方法的扩展是为了整合机器人的环境，假设它可以以线性约束的形式表达，并考虑了机器人的链接几何形状。使用机器人的非线性动力学的模拟来评估所提出的方法的准确性，并且它可以与制造商相比，并在标准的数据范围内进行了良好的效果。 250ms，封装了大多数模拟机器人的可触及空间，同时保持了可比的体积。对于7 DOF机器人，该方法的平均执行时间为50ms，独立于地平线时间，可能启用实时应用程序。
This paper presents an approach for approximating the reachable space of robotic manipulators based on convex polytopes. The proposed approach predicts the reachable space over a given time horizon based on the robot's actuation limits and kinematic constraints. The approach is furthermore extended to integrate the robot's environment, assuming it can be expressed in a form of linear constraints, and to account for the robot's link geometry.The accuracy of the proposed method is evaluated using simulations of robot's nonlinear dynamics and it is compared against the cartesian space limits, usually provided by manufacturers in standard datasheets.The accuracy analysis results show that the proposed method has good performance for the time horizons up to 250ms, encapsulating most of the simulated robot's reachable space while maintaining comparable volume. For a 7 dof robot, the method has an average execution time of 50ms, independent of the horizon time, potentially enabling real-time applications.
