Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to search for optimal trajectories in both the configuration space and null space, generating high-quality trajectories that satisfy task constraints and collision avoidance constraints, while also avoiding local optima for incremental planners. Our approach is evaluated in an onsite polishing scenario with various robot and workpiece configurations, demonstrating significant improvements in trajectory quality compared to existing methods. The proposed approach has the potential for broad applications in industrial tasks involving redundant robot arms.
翻译:在有限空间内生成轨迹对于智能机器人手臂的广泛应用至关重要。本文提出了一种新型的运动规划方法,针对冗余机械臂使用混合优化框架,在关节空间和零空间中搜索最优轨迹,生成满足任务约束和避免碰撞的高质量轨迹。同时,避免增量规划器陷入局部最优解。我们在现场抛光场景中对方法进行了评估,并且应用于各种机器人和工件配置,证明了轨迹质量相比现有方法的显著提高。所提出的方法具有在涉及冗余机器人手臂的工业任务中广泛应用的潜力。