| 摘要 |
<p>The invention relates to a distributed control system and a motion planning and control in order to avoid collisions in real time, meant for robotic arms operating within dynamic working spaces. According to the invention, the system comprises a video camera () communicating with an image processing module () for detecting the position of obstacles in a working range of a redundant robotic arm, a motion planning module () for generating in real time a trajectory of the articulations of the robotic arm, while, for the communication between the two modules (), there is employed an industrial communication network (). The claimed method for motion planning and control comprises a stage for determining the configuration of the redundant robotic arm, allowing it to avoid the collision between said arm and a mobile obstacle, by determining the tangent to the obstacle surface in the collision point, determining the origins of the coordinates systems associated to the two articulations framing the collision point, determining the articulations of the robotic arm which change the distance between the tangent to the object surface and the line passing through the two above-mentioned points, without changing the distance between the final point of the prehensor and the origin of the mark of coordinates associated with the articulation located in the vicinity of the collision point towards the prehensor and changing the position of the articulations obtained during the previous step in order to increase the distance between the tangent to the surface of the object and the line passing through the two above-mentioned points and to maintain constant the distance between the final point of the prehensor and the origin of the coordinates system associated to the articulation located in the vicinity of the collision point towards the prehensor, and an algorithm which changes in real time the trajectory of the articulations of the robotic arm when an obstacle approaches the same.</p> |
