论文链接：https://ieeexplore.ieee.org/document/11573142
视频链接：https://www.bilibili.com/video/BV1rx7h6qEpX/
受同步运动约束、关节约束与任务约束限制，双机械臂时间最优轨迹规划难度极大。CT 扫描路径通常在任务空间中定义，而关节空间与任务空间之间存在强非线性耦合运动学关系，致使关节空间约束难以求解。此外，搭载于双机械臂末端执行器上的 X 射线球管与探测器，需在扫描运动过程中保持精准对准，这也对双机械臂末端提出了严格的同步运动约束。
为此，本文提出一种适用于双机械臂 CT 系统的同步时间最优轨迹规划算法，可同时兼顾任务约束、关节约束与同步运动约束。实际 CT 辐射成像实验结果表明：该算法规划得到的轨迹满足时间最优特性，且可同步适配全部任务、关节及同步约束，最终大幅提升 CT 图像成像质量。
H.Wang, M. Yuan, X. Peng, S. Yuan and X. Zhang. Synchronous Time Optimal Trajectory Planning of a Dual-Manipulator CT System With Joint and Task Constraints. IEEE Transactions on Industrial Electronics (T-IE), doi: 10.1109/TIE.2026.3699801.
Abstract
This paper proposes a novel dual-manipulator CT system for the medical and industrial radiological imaging application. To improve the CT scan efficiency and reduce radiation exposure to patients, planning the trajectories of the dual manipulators in a time-optimal manner is essential. However, the time-optimal trajectory planning of the dual manipulators is extremely challenging with the synchronization motion constraint, joint and task constraints. Generally, the CT scanning path is defined in the task space, which poses significant challenges in addressing the constraints in the joint space due to the highly nonlinear coupled kinematics between the joint and task space. Furthermore, the X-ray tube and detector mounted on the end-effectors of the dual manipulators must be precisely aligned during the scanning motion, which basically poses the synchronization constraint for the end-effectors of the dual manipulators. In this paper, a synchronous time-optimal trajectory planning algorithm for a dual-manipulator CT system, which is able to address the task constraints, joint constraints and synchronization motion simultaneously, is proposed. Real-world CT radiological imaging experiments confirm that the trajectories planned by the proposed approach are time-optimal, an satisfy all the task, joint, and synchronization constraints simultaneously, which ultimately improve the CT image quality significantly.
