面向WTAs的VHR双臂避碰操控算法

计算机工程与应用 ›› 2014, Vol. 50 ›› Issue (14): 14-21.

面向WTAs的VHR双臂避碰操控算法

李华忠，梁永生，吴险峰，盛建强

深圳信息职业技术学院软件学院，广东深圳 518172

出版日期:2014-07-15 发布日期:2014-08-04

Algorithm for WTAs-oriented VHR dual-arm collision-free operation and control

LI Huazhong, LIANG Yongsheng, WU Xianfeng, SHENG Jianqiang

School of Software, Shenzhen Institute of Information Technology, Shenzhen, Guangdong 518172, China

Online:2014-07-15 Published:2014-08-04

摘要/Abstract

摘要： 针对虚拟仿人机器人（VHR）处理工作空间多目标区域（WTAs）避碰操控问题，先基于齐次变换矩阵和链式相乘法则，建立了VHR双臂机理正向运动学模型，进而推导了两种求解VHR双臂逆运动学的公式（DLS-SVD法和基于链式解耦的解析法）;其次，建立了WTAs的数学模型，并以WTAs位姿为操控目标，提出了融合正向和逆向运动学及其双向快速搜索随机树算法的VHR双臂避碰操控算法;最后，通过三维仿真建立VHR虚拟样机，验证了提出算法的正确性和有效性。

关键词: 虚拟仿人机器人, 双臂操控, 双向快速搜索随机树, 工作空间目标区域, 阻尼最小二乘-奇异值分解（DLS-SVD）法, 逆运动学（IK）解析法

Abstract: As for the collision-free operation and control problems as encountered by the Virtual Humanoid Robot（VHR） in WTAs, firstly, based on the homogeneous transformation matrix and chain rules via multiplication, a model regarding VHR dual-arm forward kinematics is established, then two formulas for solving VHR dual-arm reverse kinematics are deduced（DLS-SVD method and analytical method based on chain decoupling）. Secondly, the mathematical model of WTAs is established, and an algorithm for VHR dual-arm collision-free operation and control that integrates forward and reverse kinematics as well as Bi-directional Rapidly-exploring Random Trees（BiRRTs） is raised by taking the WTAs posture as the target of operation and control. At last, a virtual prototype of VHR is established through three-dimensional simulation, verifying the correctness and effectiveness of the algorithm mentioned.

Key words: Virtual Humanoid Robot（VHR）, dual arm operation and control, Bi-directional Rapidly-exploring Random Trees（BiRRTs）, Workspace Target Areas（WTAs）, Damped Leased Square-Singular Value Decomposition（DLS-SVD） method, Inverse Kinematic（IK） analytical method

李华忠，梁永生，吴险峰，盛建强. 面向WTAs的VHR双臂避碰操控算法[J]. 计算机工程与应用, 2014, 50(14): 14-21.

LI Huazhong, LIANG Yongsheng, WU Xianfeng, SHENG Jianqiang. Algorithm for WTAs-oriented VHR dual-arm collision-free operation and control[J]. Computer Engineering and Applications, 2014, 50(14): 14-21.