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摘要: 针对空间站遥操作7DOF冗余机械臂路径规划的安全性、可靠性问题，提出了基于臂型角逆运动学的优化A*路径规划算法.本文根据臂型角参数化完善了逆运动学方法，得到了32组完备逆解集，增加了路径规划时逆解选择的灵活性；通过臂型角搜索和最小奇异值优化A*路径规划算法，提高机械臂避障、避奇异能力，机械臂操作的灵活性和路径的安全可靠性；同时根据路径优化策略，有效平滑了路径，减少了机械臂的磨损.仿真结果说明了该方法的有效性.Abstract: Aiming at safety and reliability of the space station remote manipulator (SSRMS) type 7DOF redundant manipulator's path planning, an optimized A* path planning algorithm is proposed based on the inverse kinematics of arm angle. This paper improves the method of inverse solution based parameterized arm angle, and obtains 32 sets of complete inverse solutions, which increases flexibility of inverse solution selection in path planning, optimizes the method of A* path planning based on arm angle search and minimum singular value, which increases ability to avoid obstacle and singularity, flexibility of manipulator operation, safety and reliability. At the same time, according to the path optimization strategy, the path is effectively smoothed to reduce the wear of the manipulator. The simulation shows the effectiveness of the method.
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Key words:
- Redundant manipulator /
- arm angle /
- inverse kinematics /
- A* path planning algorithm
1) 本文责任编委 倪茂林 -
表 1 机械臂D-H参数
Table 1 The D-H parameters of manipulator
杆$i$ ${{\theta }_{i}} \, ({}^\circ )$ ${{\alpha }_{i}} \, ({}^\circ )$ ${{a}_{i}} \, (\text{m)}$ ${{d}_{i}}\, (\text{m)}$ 1 0 90 0 ${{d}_{1}}$ 2 0 90 0 ${{d}_{2}}$ 3 0 0 ${{a}_{3}}$ ${{d}_{3}}$ 4 0 0 ${{a}_{4}}$ ${{d}_{4}}$ 5 0 90 0 ${{d}_{5}}$ 6 0 90 0 ${{d}_{6}}$ 7 0 90 0 ${{d}_{7}}$ 
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表 2 仿真机械臂D-H参数
Table 2 Simulation parameter of manipulator's DH
杆$i$ ${{\theta }_{i}} ({}^\circ )$ ${{\alpha }_{i}} ({}^\circ )$ ${{a}_{i}} (\text{m)}$ ${{d}_{i}} (\text{m)}$ 1 90 90 0 0.25 2 90 90 0 0.25 3 90 0 2.0 0.6 4 180 0 2.0 0 5 90 90 0 0 6 0 90 0 0.25 7 0 90 0 0.35
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