机器人动态抓取的变比例导引路径规划方法

摘要

研究机器人手眼协调系统接近和抓取运动目标的路径规划方法,提出了一种脱胎于比例导引方法的变比例导引(VGP)路径规划方法.这种方法设定手爪的视角在接近目标过程中以匀速不断变化,因而可以使手爪从目标运动前方拦截到目标.另外,机器人手爪在接近目标时,可以同时调整手爪的接近姿态,以包抄的方式抓取目标.这种路径规划方法能够容许更大的目标位置估计误差,并能处理目标的机动运动,因而优于传统的目标跟踪路径规划方法.仿真和实验证实了所提方法的有效性.%This paper presents a new method of path planning for a robotic hand/eye coordinate system to approach and grasp a moving object. This method, which is called variant proportional guidance(VPG) method, stems from the proportional guidance(PG) law for missile interception. Unlike the PG method, the visual angle of the robot gripper in the VPG method is set to change regularly, which is to ensure the gripper intersecting the target from ahead of the target's moving direction. Meanwhile, the pose of the gripper can also be adjusted during the approaching process, so that the gripper can grasp the object from ahead in an outflanking way. This method is superior to the traditional tracking-path planning methods in that it can tolerate larger errors in the position estimation of the object and is more capable of dealing with the maneuvering motion of the target. Thus the possibility for the object to be grasped can be greatly improved. The simulations and experiments concerned show that the method is both effective and practical.