Planification de trajectoire d'un manipulateur seriel redondant dans un environnement encombre

Abstract

Ce memoire presente une strategie de planification de trajectoire d'un manipulateur seriel redondant dans un environnement encombre. Developpee dans un contexte pratique de telemanipulation, elle est adaptee aux applications en temps reel avec interaction humaine. Elle utilise un modele de l'environnement fourni par un systeme de vision. Un processus incrementiel guide l'effecteur vers son objectif a l'aide de champs de potentiel sans minimums locaux. Le temps de calcul de ces champs de potentiel est reduit en eliminant les expansions inutiles. A chaque increment, le mouvement global du manipulateur est calcule par l'inversion en vitesse exploitant la redondance pour optimiser la distance aux obstacles sans nuire a la trajectoire de l'organe terminal. Un algorithme tient compte des limites articulaires et s'assure d'eviter toute collision. Des heuristiques favorisent la resolution de cas types complexes, afin d'augmenter le taux de reussite. Un simulateur a ete construit pour verifier le comportement des algorithmes.

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This paper presents a strategy for planning the trajectory of a redundant serial manipulator in a congested environment. Developed in a practical telemanipulation context, it is suitable for real-time applications with human interaction. It uses a model of the environment provided by a vision system. An incremental process guides the effector towards its objective using potential fields without local minima. The calculation time of these potential fields is reduced by eliminating unnecessary expansions. At each increment, the overall movement of the manipulator is calculated by speed inversion exploiting redundancy to optimize the distance to obstacles without harming the trajectory of the terminal organ. An algorithm takes into account joint limits and ensures that any collision is avoided. Heuristics promote the resolution of complex typical cases, in order to increase the success rate. A simulator was built to verify the behavior of the algorithms.