关键词: 梯度投影法, 关节避障极限, 伪距离, 避障, 冗余度臂架, 混凝土泵车

Abstract:  Aiming at the problems of end obstacle avoidance and joint limitation of concrete pump truck boom, an obstacle avoidance method of pump truck boom was proposed based on pseudo-distance. Superquadratic function was used to represent space obstacle, and pseudo-distance was used as the index of proximity between boom and space obstacle. Based on the minimum pseudo-distance discriminant index, an obstacle avoidance speed was assigned to the boom of the pump truck, and the traditional gradient projection algorithm was improved to realize the safe obstacle avoidance of the boom of the pump truck under the condition of avoiding the joint movement exceeding the joint limit position, while ensuring the stability of the obstacle avoidance processes and the trajectory accuracy of the boom end. Simulation and semi-physical experiments verified the effectiveness of the algorithm in concrete pump truck boom obstacle avoidance processes, which may complete the space multi-obstacle avoidances.

Key words: gradient projection method, joint avoidance limit, pseudo-distance, obstacle avoidance, redundant boom, concrete pump truck