面向冗余机械臂避障运动规划的触控交互技术

doi:10.12305/j.issn.1001-506X.2024.01.29

Abstract

Abstract:

In view of the problem of weak human-robot interaction, complex obstacle avoidance algorithms, and difficulty in avoiding unstructured obstacles in the motion control of redundant manipulators, a touch interaction method for obstacle avoidance motion planning of redundant manipulators is proposed. The screen coordinates of interactive devices are transformed through coordinate system transformation to realize touch interaction, and the interaction efficiency is improved through cylindrical obstacle avoidance motion planning. Based on the Unreal Engine, a touch interaction demonstration software is designed to realize the motion obstacle avoidance simulation of redundant manipulators using touch interaction. Compared with the traditional method, it not only takes into account the friendliness of human-robot interaction, but also improves the operation efficiency and understandability of manipulator motion planning.

Key words: redundant manipulator, obstacle avoidance motion planning, touch interaction

CLC Number:

TP391.9

Baochen ZHANG, Jianjiang HUI, Qi ZHANG, Zhengxiong LIU, Panfeng HUANG. Touch interaction technology for obstacle avoidance motion planning of redundant manipulators[J]. Systems Engineering and Electronics, 2023, 46(1): 254-260.

Figures/Tables 14

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References 30

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序号	a组实验完成时间/s	a组避障情况	b组实验完成时间/s	b组避障情况
1	2.33	未碰撞	10.15	未碰撞
2	2.20	未碰撞	11.16	未碰撞
3	1.79	未碰撞	9.72	未碰撞
4	1.83	未碰撞	11.49	未碰撞
5	2.18	未碰撞	14.11	未碰撞
6	1.68	未碰撞	10.26	未碰撞
7	1.49	未碰撞	11.78	未碰撞
8	2.02	未碰撞	13.69	碰撞
9	1.70	未碰撞	10.00	碰撞
10	1.53	未碰撞	11.50	未碰撞

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Touch interaction technology for obstacle avoidance motion planning of redundant manipulators

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