论文标题
基于动力系统的障碍物避免使用工作空间约束操纵器
Dynamical Systems based Obstacle Avoidance with Workspace Constraint for Manipulators
论文作者
论文摘要
在本文中，基于动态系统（DS），我们提出了一种避免障碍物的方法，该方法考虑了连续操作器的工作空间约束。当障碍物不相交工作空间边界以及障碍物分别相交工作空间边界时，确定了两个调制矩阵，这些调制矩阵考虑了障碍物的效果和操纵器的工作空间。使用调制矩阵，将原始DS变形。提出的方法可以确保根据变形DS计算的操纵器的轨迹既不穿透障碍物，也不会脱离工作空间。我们验证了在UBTECH人形机器人机器人左臂的模拟和实验中该方法的有效性。
In this paper, based on Dynamical Systems (DS), we present an obstacle avoidance method that take into account workspace constraint for serial manipulators. Two modulation matrices that consider the effect of an obstacle and the workspace of a manipulator are determined when the obstacle does not intersect the workspace boundary and when the obstacle intersects the workspace boundary respectively. Using the modulation matrices, an original DS is deformed. The proposed approach can ensure that the trajectory of the manipulator computed according to the deformed DS neither penetrate the obstacle nor go out of the workspace. We validate the effectiveness of the approach in the simulations and experiments on the left arm of the UBTECH humanoid robot.
