开发和测试碰撞避免算法的工业应用

Lorenzo Palermino, A. Fathy, M. Carnevale, H. Giberti
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引用次数: 0

摘要

在以非结构化单元布局为特征的中小型企业中,操作员和协作机器人在共同工作空间中的安全交互是引入自动化的基本要求。除了利用协作机器人之外,完全安全的交互还需要采用避碰系统,以便能够实时重新规划末端执行器的轨迹,从而避免在与人发生碰撞时停止机器。这是工业应用的基础,即使在非结构化的生产环境中,为了保持尽可能恒定的生产率。然而,由于一些尚未完全解决的限制,避碰在实际工业生产单元中的应用仍然有限。确实仍有可能发生的情况是,重新计算无障碍轨道需要太长时间,不符合工业应用。本文描述了一个使用Lazy PRM*算法的避碰程序的开发。该程序在一个实体机器人三菱梅尔法RV-5AS-D上进行了测试,以执行一些典型的拾取和放置任务。该算法可以在执行过程中,在检测到寻找替代轨迹花费太长时间的情况下,在线更改路线图从密集到稀疏。与其他商业防撞系统相比,在其他商业防撞系统中,对路线图的评估只能在离线状态下一次性完成,这一特性可以防止机器人在没有足够快地找到可行的解决方案时陷入困境。此外,开发的程序保证了更大的灵活性,以创建路线图,试图匹配用户的需求,并消除了路线图的多余部分,以减少计算时间。这与目前的商业避碰系统解决方案有所不同,据笔者所知,商业避碰系统将所有节点连接在一起。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Development and testing of a collision avoidance algorithm for industrial applications
Safe interaction of the operator and the cobot in the co-working space is one fundamental requirement for introducing automation in small and medium enterprises characterized by unstructured cell layouts. In addition to the exploitation of cobots, a fully safe interaction requires the adoption of collision avoidance systems, to enable the real-time re-planning of the end-effector trajectories thus avoiding to stop the machine in case of collision with humans. This is fundamental for industrial applications, in order to maintain the production rate as constant as possible even in unstructured production environments. However, collision avoidance applications in actual industrial production cells are still limited, due to some limitations which are not yet completely solved. It is indeed still likely to happen that the recalculation of the obstacle-free trajectory takes a too long time, not compatible with industrial applications. This paper describes the development of a collision avoidance program using the Lazy PRM* algorithm. The program is tested on a physical robot, the Mitsubishi Melfa RV-5AS-D, to perform some exemplary pick and place tasks. The developed algorithm can alter online, during the execution, the road-map from dense to sparse in those cases in which the search for an alternative trajectory is detected to take too long time. Compared to other commercial collision avoidance systems, in which the evaluation of road-maps can only be done offline once and for all, this feature would prevent the robot to get stucked in case a feasible solution is not found in a fast enough way. Furthermore, the developed program guarantees greater flexibility in creating the road-map, trying to match the user's needs, and eliminating the superfluous parts of the road-map to reduce computational time. This marks a difference with present-day solutions for commercial collision avoidance systems which, to the author knowledge, connects all the nodes together.
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