Dynamic self-collision detection and prevention for 2-DOF robot arms using interval-based analysis
Dynamic self-collision detection and prevention for 2-DOF robot arms using interval-based analysis
复制标题
使用基于区间的分析对 2-DOF 机械臂进行动态自碰撞检测和预防
DOI：
10.1007/s12206-011-0522-9
复制
发表时间：
2011-09
影响因子：
1.6
通讯作者：
Fang Hao
中科院分区：
文献类型：
--
作者：
Chen Jie;Dou Lihua;Fang Hao
研究了具有动力学约束的机器人手臂的自碰撞检测和最优无碰撞轨迹规划问题。首先，计算转矩的方法被用来获得一个线性化的闭环系统。对于这个线性化的系统，机器人手臂能够达到的参考状态通过相平面分析进行验证。这将确保机器人手臂可以在发生自碰撞之前停止。考虑到动态约束的连续运动的减速通过计算区间评价的命令的力/扭矩的界限。当参考状态eatt +δ不满足自避碰要求时，采用基于区间的方法将复杂的约束优化问题分解为简单的两阶段放松约束优化问题，从而确定新的可行状态.优化后的可行状态不仅保证了机器人手臂不发生自碰撞，而且使机器人手臂能够紧密地跟踪原始参考轨迹。仿真和2自由度机器人手臂的实验结果表明，所提出的基于区间的方法的有效性。
The problems related to self-collision detection and optimal collision-free trajectory planning for a robot arm subjected to dynamic constraints is investigated. First, a computed-torque method is used to obtain a linearized closed-loop system. For this linearized system, the reference state that the robot arm is capable of reaching is verified through phase plane analysis. This will ensure that the robot arm can be stopped before self-collision occurs. Dynamic constraints are taken into account for a continuous motion of deceleration by calculating the bounds of the commanded force/torques with interval evaluations. When the reference state e att+δtis not valid for selfcollision avoidance, a new feasible state is determined by adhering to an interval-based method which allows decomposition of a complex constrained optimization problem into a simple two-stage optimization problem with relaxed constraints. The optimized feasible state not only secures the robot arm against self-collision but also allows the robot arm to track the original reference trajectory closely. Simulation and experimental results of a 2-dof robot arm show the effectiveness of the proposed interval-based approach.
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DOI：
10.1109/iros.1999.811742
发表时间：
1999-10
期刊：
Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)
影响因子：
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作者：
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通讯作者：
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DOI：
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发表时间：
2000-12
期刊：
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影响因子：
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作者：
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通讯作者：
K. Lynch;N. Shiroma;H. Arai;K. Tanie
影响因子：
2.5
作者：
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通讯作者：
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DOI：
10.1137/1.9781611970906
发表时间：
1979
期刊：
Annals of oncology : official journal of the European Society for Medical Oncology
影响因子：
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作者：
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通讯作者：
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DOI：
10.1109/robot.2005.1570800
发表时间：
2005-04
期刊：
Proceedings of the 2005 IEEE International Conference on Robotics and Automation
影响因子：
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作者：
Seul Jung;E. Jang;T. Hsia
通讯作者：
Seul Jung;E. Jang;T. Hsia