固定基座和移动平台机械臂统一智能规划控制

项目名称： 固定基座和移动平台机械臂统一智能规划控制

项目编号： No.61473323

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 自动化学科

项目作者： 张雨浓

作者单位： 中山大学

项目金额： 85万元

中文摘要： 随着新技术革命的兴起，机器人技术越来越广泛地被应用到工业生产和生活服务中。纵观冗余度机械臂的研究，对固定基座机械臂的研究较多，而对移动平台机械臂的运动规划与控制的研究则相对少。本项目从实时控制冗余度机器臂的角度出发，拟提出、研究和开发固定基座和移动平台机械臂的统一智能规划控制。基于申请者及团队之前的工作基础/成果，本项目将对冗余度机械臂开展如下两方面的研究：1）固定基座机械臂尚未深入开展的加速度层和力矩层的统一智能规划控制；2）移动平台机械臂各层的统一智能协调型规划控制。通过对传统的基于伪逆的冗余度解析方案的优缺点分析和对比，尝试提出一个基于二次型优化的统一智能规划控制理论，其将各种目标函数统一为一个二次型优化目标并以等式和不等式约束表述机械臂末端期望轨迹和物理环境约束。同时，开发在线求解器快速求解该二次型优化问题。本项目研究将提升和统一现有工作，有助冗余度机械臂的工业应用和生活服务。

中文关键词： 固定基座；移动平台；冗余度机械臂；规划控制；统一智能

英文摘要： With the rising of the new technology revolution, robot technology has been more and more widely applied to industrial production and life service. From the general study of redundant manipulators, researches for fixed-base manipulators are relatively common, while studies of mobile-platform manipulators are rare. From the viewpoints of real-time control and practical application, this project aims at proposing and studying the unified intelligent planning and control of fixed-base and mobile-platform manipulators. Based on the previous work/achievements of the applicant and his team, the following two parts of the unification-and-intelligence research on redundant manipulators will be conducted: 1) the unified intelligent planning and control of the acceleration and torque levels for fixed-base manipulators; and 2) the unified intelligent planning and control of all levels (i.e., velocity, acceleration and torque levels) for mobile-platform manipulators. With the merit/weakness analysis and comparison of the conventional pseudoinverse-based redundancy resolution, a new unified intelligent planning and control theory will be tried to propose, which is based on quadratic optimization technique. The theory can unify various kinds of objective functions into a quadratic performance index and also incorporate the end-effector desired path as well as physical and environmental constraints via equality and inequality constraints. Besides, corresponding online solvers with high efficacy will be investigated and developed to solve the quadratic optimization problem. The results of this research will tremendously promote and then unify the existing work on the motion planning and control of manipulators, which will also help the practical industrial application and life service of redundant robots.

英文关键词： fixed base;mobile platform;redundant manipulators;planning and control;unification and intelligence