机械工程学报 >

2018 , Vol. 54 >Issue 19: 10 - 17

DOI: https://doi.org/10.3901/JME.2018.19.010

机构学及机器人

机器人平滑抓取移动物体的运动规划方法

  • 张驰 ,
  • 尚伟伟 ,
  • 丛爽 ,
  • 刘宜
展开
  • 1. 中国科学技术大学自动化系 合肥 230027;
    2. 中国科学院合肥智能机械研究所 合肥 230031
张驰,男,1993年出生。主要研究方向为机器人抓取移动物体的运动规划。E-mail:jingxizc@mail.ustc.edu.cn;丛爽,女,1961年出生,博士,教授。主要研究方向为量子系统及其控制、先进控制系统及运动控制。E-mail:scong@ustc.edu.cn;刘宜,男,1980年出生,博士,高级工程师。主要研究方向为运动控制、绳索机器人等。E-mail:yliu@iim.ac.cn

收稿日期: 2017-11-15

  修回日期: 2018-01-30

  网络出版日期: 2018-10-05

基金资助

国家自然科学基金资助项目（51675501，51275500）。

收起

Motion Planning for Robotic Smooth Catching of Moving Object

  • ZHANG Chi ,
  • SHANG Weiwei ,
  • CONG Shuang ,
  • LIU Yi
Expand
  • 1. Department of Automation, University of Science and Technology of China, Hefei 230027;
    2. Hefei Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031

Received date: 2017-11-15

  Revised date: 2018-01-30

  Online published: 2018-10-05

Fold

摘要

结合机器视觉和运动规划方法，对动态环境中移动物体的平滑抓取进行了研究。设计了一种运动物体跟踪算法，能够实现无障碍环境下移动物体的平滑抓取；针对环境中存在动态障碍物的情况，设计了一种基于排斥矢量的动态避障算法，与运动物体跟踪算法相结合，实现了机器人先避障后平滑抓取；基于机器人操作系统（Robot operating system，ROS）框架，在5自由度的KUKA Youbot机械臂平台上实现了无障碍环境下对传送带上物体的平滑抓取，以及动态障碍物环境中的平滑抓取，试验结果验证了所设计算法的优越性。

关键词： 动态环境; 平滑抓取; 动态避障; 物体抓取

本文引用格式

张驰 , 尚伟伟 , 丛爽 , 刘宜 . 机器人平滑抓取移动物体的运动规划方法[J]. 机械工程学报, 2018 , 54(19) : 10 -17 . DOI: 10.3901/JME.2018.19.010

Abstract

Using machine vision and motion planning technology, smooth catching of moving object in dynamic environment is studied. A tracking algorithm of moving object is designed to realize the smooth catching in obstacle-free environment. To avoid the moving obstacle in the environment, a collision avoidance algorithm is proposed by using repulsive vector, and then it is combined with the tracking algorithm to finish both obstacle avoidance and smooth pickup of moving object. Based on the robot operating system, several experiments are implemented on a 5-DOF KUKA Youbot robotic manipulator. The manipulator can catch moving object smoothly in the obstacle-free environment and the object in the environment with moving obstacle. The experimental results indicate that both the tracking algorithm and the collision avoidance algorithm are very effective to finish the object catching.

Key words： dynamic environment; smooth pickup; moving obstacle avoidance; object grasping

参考文献

[1] GIOVANNI B. A picking strategy for circular conveyor tracking[J]. Journal of intelligent & Robotic Systems,2016,81(2):241-255.
[2] BORANGIU T,MANU M,ANTON D F,et al. High-speed robot motion control under visual guidance[C]//International Power Electronics and Motion Control Conference,August 30-September 1,Portoroz,Slovenia. Piscataway:IEEE,2006:519-523.
[3] COWLEY A,COHEN B,MARSHA W,et al. Perception and motion planning for pick-and-place of dynamic objects[C]//IEEE International Conference on Intelligent Robots and Systems,November 3-7,2013,Tokyo,Japan. Piscataway:IEEE,2013:816-823.
[4] SANG S I,NAM S H,ROBERTS R,et al. A minimum-time algorithm for intercepting an object on a conveyor belt[J]. Industrial Robot:An International Journal,2009,36(2):127-137.
[5] MENON A,COHEN B,LIKHACHEV M. Motion planning for smooth pickup of moving objects[C]//IEEE International Conference on Robotics and Automation,May 31-June 7,2014,Hong Kong,China. Piscataway:IEEE,2014:453-460.
[6] ZHANG G,LIU G. Workspace analysis and dynamic object tracking with a delta parallel robot[C]//ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots,July 20-22,2015. Berlin:Springer,2016:965-975.
[7] KHAN S G,HERRMANN G,PIPE T,et al. Safe adaptive compliance control of a humanoid robotic arm with antiwindup compensation and posture control[J]. International Journal of Social Robotics,2010,2(3):305-319.
[8] BICCHI A,TONIETTI G. Fast and soft-arm tactics robot arm design[J]. IEEE Robotics and Automation Magazine,2004,11(2):22-33.
[9] STROHMAYR W M,WORN H,HIRZINGER G. The DLR artificial skin step:Uniting sensitivity and collision tolerance[C]//IEEE International Conference on Robotics and Automation,May 6-10,2013,Karlsruhe,Germany. Piscataway:IEEE,2013:1012-1018.
[10] 吴海彬,彭爱泉,何素梅. 基于危险指数最小化的机器人安全运动规划[J]. 机械工程学报,2015,51(9):18-27. WU Haibin,PENG Aiquan,HE Sumei. Robot safe motion planning based on minimized danger index[J]. Journal of Mechanical Engineering,2015,51(9):18-27.
[11] BERG V D J,FERGUSON D,KUFFNER J. Anytime path planning and replanning in dynamic environments[C]//IEEE International Conference on Robotics and Automation,May 15-19,2006,Orlando,USA. Piscataway:IEEE,2006:2366-2371.
[12] YANG Q,RAHMANI A. Path planning approach for redundant manipulator based on Jacobian pseudoinverse-RRT algorithm[C]//International Conference on Intelligent Robotics and Applications,September 25-28,2013,Busan,Korea. Berlin:Springer,2013:716-717.
[13] REIMANN H,IOSSIFIDIS I,SCHONER G. Generating collision free reaching movements for redundant manipulators using dynamical systems[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems,October 18-22,2010,Taipei,Taiwan,China,Piscataway:IEEE,2010:5372-5379.
[14] HADDADIN S,URBANEK H,PARUSEL S,et al. Real-time reactive motion generation based on variable attractor dynamics and shaped velocities[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems,October 18-22,2010,Taipei,Taiwan,China,Piscataway:IEEE,2010:3109-3116.
[15] 张建华,胡平,张小俊,等. 基于主从任务转化的闭环控制避障算法[J]. 机械工程学报,2017,53(1):21-27. ZHANG Jianhua,HU Ping,ZHANG Xiaojun,et al. Closed loop control algorithm for obstacle avoidance based on the transformation of master and slave tasks[J]. Journal of Mechanical Engineering,2017,53(1):21-27.
[16] WANG X Y,YANG C,JU Z J,et al. Robot manipulator self-identification for surrounding obstacle detection[J]. Multimedia Tools and Applications,2017,76(5):6495-6520.
[17] FLACCO F,KROGER T,LUCA D A,et al. A depth space approach to human-robot collision avoidance[C]//IEEE International Conference on Robotics and Automation,May 14-18,2012,St. Paul,USA. Piscataway:IEEE,2012:338-345.
[18] LUO R C,KO M C,CHUNG Y T,et al. Repulsive reaction vector generator for whole-arm collision avoidance of 7-DoF redundant robot manipulator[C]//IEEE/ASME International Conference on Advanced Intelligent Mechatronics,July 8-11,2014,Besançon,France. Piscataway:IEEE,2014:1036-1041.
[19] NIEKUM S. AR tag tracking library[EB/OL]. 2013. http://www.ros.org/wiki/ar_track_alvar.
Options
文章导航

/

〈 〉

版权所有 © 《机械工程学报》编辑部

技术支持：北京玛格泰克科技发展有限公司