| 引用本文: | 罗欣,丁晓军.地面移动作业机器人运动规划与控制研究综述[J].哈尔滨工业大学学报,2021,53(1):1.DOI:10.11918/201910067 |
| LUO Xin,DING Xiaojun.Research and prospective on motion planning and control of ground mobile manipulators[J].Journal of Harbin Institute of Technology,2021,53(1):1.DOI:10.11918/201910067 |
|
| 摘要: |
| 针对地面移动作业机器人存在的自由度高度冗余和操作臂与移动平台间强耦合问题,指出地面移动作业机器人的研究面临着作用链等效动力学建模及其规约、强环境交互作用下高维动态作业规划、动态稳定性以及实时作业控制等难题. 分析并总结了移动操作机器人的最新研究成果,从地面移动作业机器人系统动力学建模与耦合作用分析、运动规划、动态稳定性与作业控制等多个方面,对现有研究成果进行了评述,对地面移动作业机器人运动规划与控制的发展方向进行了展望. |
| 关键词: 地面移动作业机器人 动力学建模 耦合作用分析 运动规划与控制 动态稳定性 实时作业控制 |
| DOI：10.11918/201910067 |
| 分类号:TP24 |
| 文献标识码:A |
| 基金项目:国家自然科学基金(7,3) |
|
| Research and prospective on motion planning and control of ground mobile manipulators |
|
LUO Xin,DING Xiaojun
|
|
（State Key Laboratory of Digital Manufacturing Equipment and Technology, (Huazhong University of Science and Technology), Wuhan 430074, China）
|
| Abstract: |
| In view of the problems of highly redundant degree-of-freedoms, strongly dynamic coupling between manipulator(s) and mobile platform of the Ground mobile manipulators (GMM), some challenging puzzles in GMMs are still being open, including equivalent dynamics modelling of action chain and its simplification method, the high-dimensional dynamic manipulate planning under strong environmental interaction, dynamic stability, as well as real-time manipulator control, and so forth. Focusing on dynamic modelling and coupling analysis, motion planning, dynamic stability, and manipulator control of the GMMs, current literatures are investigated and a review on the state-of-the-art of whole-body motion planning and control of the GMMs is presented. Some key problems and technical challenges are summarized, and the future direction is prospected. |
| Key words: ground mobile manipulators dynamic modeling coupling analysis motion planning and control dynamic stability real-time control |
