面向WTAs的VHR双臂避碰操控算法

摘要

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 pos-ture 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.%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。