相比传统非冗余机器人,冗余机器人具有更高灵活性。为了充分地利用机器人的冗余度,需要对任务进行插入和移除,使机器人能够在非结构化环境中完成复杂任务。但任务在状态切换过程中会造成机器人速度不连续。针对该问题,本文基于连续迭代投影原理,提出了连续迭代投影多任务优先级算法,能够保证关节速度的连续性以及任务的切入与移除,从而在冗余度的范围内尽可能地保证低优先级任务。同时,基于李雅普诺夫稳定性理论,当迭代次数趋于无穷大时,证明了所提出的连续迭代投影多任务优先级算法的稳定性。对六杆平面机械臂在障碍物存在下的轨迹跟踪任务进行了仿真,验证了该方法的连续性和稳定性。

Compared with traditional non-redundant robots, redundant robots have higher flexibility. In order to make full use of the robot"s redundancy, tasks need to be inserted and removed, so that the robot can complete complex tasks in an unstructured environment. However, the robot velocity would be discontinuous during the task state switching. In response to this problem, this paper is based on the iteratively successive projection mechanism, a iteratively successive projection multi-task priority algorithm is proposed, which can ensure the continuity of joint velocity as tasks switch between inactive and active states, so as to ensues low priority tasks as much as possible within the ability of redundancy. At the same time, based on Lyapunov"s stability theory, the stability of the proposed iteratively successive projection multi-task priority algorithm is proved under the condition that the number of iterations tends to infinity. The trajectory tracking task of the six-bar planar manipulator in the presence of obstacles is simulated, which verifies the continuity and stability of the proposed method.

TP241

国家自然科学基金资助项目