考虑任务优先级的冗余轮式移动机械臂位形优化

doi:10.13229/j.cnki.jdxbgxb.20240133

摘要/Abstract

摘要：

针对轮式移动机械臂在复杂环境中灵巧作业的需求，开展了面向冗余轮式移动机械臂（WMM）考虑任务优先级的位形优化研究。为实现该目标，首先，分别建立轮式移动平台和多自由度机械臂运动学模型，并在此基础上构建WMM整机运动学模型；然后，基于任务优先级框架设计WMM逆运动学求解方法，并开展面向车-臂双轨迹跟踪、避奇异位形、避关节极限等多任务目标的WMM位形优化研究；最后，结合SolidWorks、Matlab/Simulink软件进行WMM复杂工况仿真，仿真结果验证了该方法的有效性。

关键词: 轮式移动机械臂, 任务优先级, 逆运动学, 位形优化, 轨迹跟踪

Abstract:

To facilitate the dexterous operation of a mobile manipulator in a complex environment， we conducted configuration optimization based on task priority for a redundant wheeled mobile manipulator （WMM）. To achieve this objective， we initially established the kinematic models for the wheeled mobile base and the multi-degree-of-freedom manipulator separately. Subsequently， we constructed the kinematic model for the WMM system based on these foundations. Subsequently， we designed an inverse kinematic model for the WMM using the task priority framework. Configuration optimization was then performed for various targets， including vehicle-arm dual trajectory tracking， singularity avoidance， and joint limit avoidance. Finally， the performance of the WMM in a complex environment is simulated using SolidWorks and Matlab/Simulink. The simulation results validate the effectiveness of the proposed method.

Key words: wheeled mobile manipulator, task priority, inverse kinematics, configuration optimization, trajectory tracking

中图分类号:

TP242

邢宏军,徐宇哲,周忠歌,刘彦清,丁亮,陈金宝. 考虑任务优先级的冗余轮式移动机械臂位形优化[J]. 吉林大学学报(工学版), 2025, 55(11): 3507-3520.

Hong-jun XING,Yu-zhe XU,Zhong-ge ZHOU,Yan-qing LIU,Liang DING,Jin-bao CHEN. Configuration optimization of redundant wheeled mobile manipulators considering task priority[J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(11): 3507-3520.

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杆件序号	连杆扭转角/（°）	连杆偏距/m	关节角/（°）
1	0	0.284 8	θ₁
2	π/2	0.011 8	θ₂
3	-π/2	0.420 8	θ₃
4	π/2	0.012 8	θ₄
5	-π/2	0.314 3	θ₅
6	π/2	0	θ₆
7	-π/2	0	θ₇
EE	0	0.237 4	0

运动范围	θ₁	θ₂	θ₃	θ₄	θ₅	θ₆	θ₇
上限θ /（°）	+∞	+126	+∞	+147	+∞	+117	+∞
下限θ/（°）	-∞	-126	-∞	-147	-∞	-117	-∞

任务序号	时刻t/s	WMM的状态
1	0	WMM以初始姿态位于起点处
2	89.8	WMM完成目标物体的抓取
3	153.1	WMM通过房门：前轮轴线与墙中性面重合
4	213.8	WMM完成目标物体的放置
5	319.0	WMM通过侧门：前轮轴线与墙中性面重合
6	350.0	WMM运动至任务终点处