影响因子：3.2
所属单位：北京航空航天大学
发表刊物：IET Collaborative Intelligent Manufacturing
关键字：human‐robot interaction | industrial robots | manufacturing systems | mobile robots | optimal control | robot dynamics
摘要：In human‐centric smart manufacturing (HCSM), the robot's dynamic obstacle avoidance function is crucial to ensuring human safety. Unlike the static obstacle avoidance of manipulators or mobile robots, the dynamic obstacle avoidance in mobile manipulators presents challengessuch as high‐dimensional planning and motion deadlock.In this paper, an adaptive whole‐body control approach for dynamic obstacle avoidance of the mobile manipulators for HCSM is proposed. Firstly, an adaptive global path planning method is proposed to reduce planning dimension. Secondly, lateral coupling effect term and nonlinear velocity damping constraints are formulated to alleviate motion deadlock. Then, a whole‐body dynamic obstacle avoidance motion controller is presented. Through simulations and real‐world experiments, the planning time is reduced by 18.65% on average, and the path length by 15.94%, compared to the global RRT benchmark algorithm. The dynamic obstacle avoidance experiment simulates the obstacle combinationssuch as pedestrians moving in opposite direction, traversing and forming a circle during the robot operation. The proposed motion controller can adjust robot movement in real time according to the change of its relative distance from obstacles, meanwhile maintaining an average safe distance of 0.45 m from dynamic obstacles. It is assumed that the proposed approach can benefft dynamic human–robot symbiotic manufacturing tasks from more natural and efffcient manipulations.
论文类型：期刊论文
一级学科：机械工程
文献类型：期刊
字数：8900
是否译文：否
发表时间：2025-04-15
收录刊物：SCI