关键词: 人机交互, 冗余机械臂, 耦合规划控制算法, 动态运动基元

Abstract: Due to the problem of several times changing the desired end pose,long time path planning in redundant manipulator and the operation blocking,a novel coupling path planning algorithm with inverse kinematics,planning and control was proposed in an interactive environment.For the inverse kinematics of redundant freedom,a random factor was added to the positive and negative values of four joints,and the existence space of the analytical solution was expanded,which could improve 40.71% in working efficiency.The operation blocking in the working process was decreased based on Dynamical Movement Primitives (DMP).Through combining Descartes planner with improved inverse solver,the planning tasks was performed and the receiving working instruction was actuated synchronously.The proposed coupling path planning had applied to human-computer interaction system for physical testing,which saved 48.25% in working time comparing with the commonly algorithm of sequential alternating planning control under ROS simulation system.The maximum speed of joint execution was significantly increased,and the physical operation was smoother.

Key words: interaction, redundant manipulator, coupling planning control algorithm, dynamical movement primitives