A local collision-free motion planning strategy for hyper-redundant manipulators based on dynamic safety envelopes

IF 1.9 4区 计算机科学 Q3 ROBOTICS
Robotica Pub Date : 2024-09-12 DOI:10.1017/s0263574724000791
Renjie Ju, Dong Zhang, Yan Gai, Zhengcai Cao
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引用次数: 0

Abstract

Hyper-redundant manipulators (HRMs) exhibit promising adaptability and superior dexterity in cavity detection tasks, owing to their snake-like segmented backbones. Due to the safety concern in contactless operating tasks, reliable motion planning in a confined environment for HRMs is very challenging. However, existing expanding-based obstacle avoidance methods are not feasible in narrow environments, as they will excessively occupy free spaces required for maneuvering. In this work, a local collision-free motion planning strategy based on dynamic safety envelope (DSE) is proposed for HRMs. First, the local motion of HRMs is analyzed in detail, and DSE is proposed for the first time to describe the boundary of the collision-free area. Then, to maximize the efficient utilization of narrow spaces, a reference trajectory for HRM is roughly planned without expanding obstacles. Further, a tip-guided trajectory tracking method based on configuration prediction is proposed by considering the discrete characteristics of rigid links to avoid obstacles. During the tracking process, DSEs are applied to evaluate collision risk and optimize the configuration. Finally, to validate the effectiveness of our proposed method, simulations are conducted, followed by experiments by using a 18-degrees of freedom mobile HRM prototype system.
基于动态安全包络的超冗余机械手局部无碰撞运动规划策略
超冗余机械手(HRMs)因其蛇形分段骨架,在空腔探测任务中表现出良好的适应性和卓越的灵巧性。由于非接触式操作任务中的安全问题,超冗余机械手在密闭环境中进行可靠的运动规划非常具有挑战性。然而,现有的基于扩展的避障方法在狭窄环境中并不可行,因为它们会过度占用机动所需的自由空间。本研究提出了一种基于动态安全包络(DSE)的局部无碰撞运动规划策略。首先,详细分析了 HRM 的局部运动,并首次提出了 DSE 来描述无碰撞区域的边界。然后,为了最大限度地有效利用狭窄空间,在不扩大障碍物的情况下粗略规划了 HRM 的参考轨迹。此外,考虑到刚性链接的离散特性,提出了一种基于配置预测的尖端引导轨迹跟踪方法,以避开障碍物。在跟踪过程中,应用 DSE 评估碰撞风险并优化配置。最后,为了验证我们所提方法的有效性,我们进行了仿真,然后使用 18 自由度移动 HRM 原型系统进行了实验。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Robotica
Robotica 工程技术-机器人学
CiteScore
4.50
自引率
22.20%
发文量
181
审稿时长
9.9 months
期刊介绍: Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.
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