| 张雅雯,燕源坤,刘安东,付明磊,张文安.基于改进人工力矩法的机械臂末端路径规划[J].高技术通讯(中文),2026,36(8):862~871 |
| 基于改进人工力矩法的机械臂末端路径规划 |
| Path planning algorithm for manipulator end-effector based on improved artificial moment method |
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| DOI：10. 3772 / j. issn. 1002 - 0470. 2026. 08. 008 |
| 中文关键词: 机械臂； 人工力矩法； 避障； 路径规划； 末端执行器 |
| 英文关键词: manipulator, artificial moment method, obstacle avoidance, path planning, end-effector |
| 基金项目: |
| 作者 | 单位 | | 张雅雯 | (浙江工业大学信息工程学院杭州 310023) | | 燕源坤 | | | 刘安东 | | | 付明磊 | | | 张文安 | |
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| 摘要点击次数: 18 |
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| 中文摘要: |
| 针对传统算法在机械臂路径规划中搜索效率低和路径质量不佳等问题，提出用于机械臂末端避障的三维人工力矩法（3 dimension artificial moment method，3D-AMM）。3D-AMM将现有的二维人工力矩法扩展至三维空间，并对相关概念重新定义和建模。引入矢量三重积法在障碍物上构造吸引线段，提出了一种自适应选择轴机制并使用梯度上升法在三维空间中计算梯度向量，以此寻找吸引矩和排斥矩2类人工力矩函数增长最快的方向。将梯度向量作为控制器输入，得到既快速接近目标点又迅速避开障碍物的运动向量和路径点。通过仿真和在Franka Emika Panda机械臂上进行实验，验证了提出的改进人工力矩法在机械臂末端避障方面的有效性。 |
| 英文摘要: |
| Aiming at the problems of low search efficiency and poor path quality of traditional algorithms in manipulator path planning, the 3 dimension artificial moment method (3D-AMM) for obstacle avoidance of end-effector is proposed. 3D-AMM extends the existing 2D artificial moment method to 3D space, and redefines and models the related concepts. The vector triple product method is introduced to construct the attractive function segments on the obstacle, and an adaptive axis selection mechanism is proposed and gradient vectors are computed in 3D space using the gradient ascent method as a means to find the fastest growing directions of the artificial moment functions for both attractive and repulsive moments. The gradient vectors are used as controller inputs to obtain motion vectors and path points that both approach the target point and avoid obstacles quickly. The effectiveness of the proposed improved artificial moment method for obstacle avoidance at the end-effector of the manipulator is verified through simulations and experiments on Franka Emika Panda manipulator. |
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