Obstacle Avoidance Path Planning of Space Redundant Manipulator Based on a Collision Detection Algorithm

Zhanxia Zhu,Sa Jing,Mingming Wang,Jianfei Zhong

doi:10.1051/jnwpu/20203810183

Abstract

This paper focuses on the path planning of free-floating space redundant manipulator in an environment with obstacles. Firstly, based on the idea of spherical bounding volume and spatial superposition, the spatial occupying relationship between obstacles and manipulators is described in a simpler way. Then the relative position relationship between straight line segment and sphere is used to judge whether a collision between the manipulator and the obstacle. With the principle of forward kinematics, we use the joint parameterization method to transform the path planning problem into a parameter optimization problem with constraints. In this optimization problem, the objective function is a weighted optimization objective function, which includes two terms, the first term describes the base attitude disturbance and the second one is established according to the requirement of avoidance collision. The motion trajectories of the manipulator joints can be obtained by solving the optimization problem using the particle swarm optimization algorithm. We choose a 7-DOF space redundant manipulator for simulation study, and simulation results show the effectiveness of the proposed method, there is no collision between the manipulator and obstacles, and there is no disturbance on the base attitude. What's more, the trajectory of the joint is smooth, which can make the end-effector reach the desired pose with a high accuracy.

Highlights

朱战霞1,2, 靖飒1,2, 仲剑飞1,2, 王明明1,2 (1.西北工业大学航天学院, 陕西西安 710072; 2.航天飞行动力学技术国家级重点实验室, 陕西西安 710072)
This paper focuses on the path planning of free⁃floating space redundant manipulator in an environment with obstacles
Based on the idea of spherical bounding volume and spatial superposition, the spatial occup⁃ ying relationship between obstacles and manipulators is described in a simpler way

Summary

Introduction

朱战霞1,2, 靖飒1,2, 仲剑飞1,2, 王明明1,2 (1.西北工业大学航天学院, 陕西西安 710072; 2.航天飞行动力学技术国家级重点实验室, 陕西西安 710072) 的半径( ‖lOC‖ > r) ,此时机械臂与障碍物不发生碰撞,如图 3a) 所示。的半径( ‖lOC‖ < r) ,但垂足 C 点位于连杆 AB 的延长线上, 且与包围球不相交, 即 t < 0 且 ( ‖lAB ‖∗‖t‖) 2 + ‖lOC ‖2 > r2; 或 t > 1 且 ( ‖lAB ‖∗‖t - 1‖) 2 + ‖lOC ‖2 > r2。此时机械臂与障碍物不发生碰撞,如图 3b) 所示。 ( ‖lAB ‖∗‖t - 1‖) 2 + ‖lOC ‖2 ≤ r2。此时机械臂与障碍物发生碰撞,如图 3d) 所示。

Results

Conclusion