发表机构
Faculty of Engineering and Natural Sciences, Tampere University; Sandvik Mining and Construction Oy（坦佩雷大学工程与自然科学学院; 山特维克采矿与建筑公司）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究针对长距离钻臂从操作员监督控制向自主控制转变的需求，提出在测量状态逆运动学中集成姿态参数化规划与CBF-QP的方法，经两项钻孔任务评估，该方法效果良好，无逆运动学故障，位置误差小。
AI 中文摘要
长距离钻臂必须在无自碰撞的情况下到达连续姿态。从操作员监督控制向自主控制转变需要具备碰撞感知的运动规划和执行能力。针对山特维克SB60，本研究通过在测量状态逆运动学中集成姿态参数化规划与基于胶囊的控制障碍函数二次规划（CBF-QP）来改进现有方法。每个任务中的固定特定任务参数集可生成航点、绕行、定时参考和链式运动，无需针对特定目标重新调整。离线绕行规划器使用23个选定的杆段到身体区域距离筛选候选航点，而在线CBF-QP使用来自九原语全身胶囊模型的14个配置胶囊对约束过滤关节速度。评估在制造商开发的SB60 Simscape多体模型中考虑了两项钻孔任务：五目标受限方向巡回和三目标全姿态巡回。在数十万个样本中，该方法产生零逆运动学故障，生成多个绕行航点，实现毫米级平均最终位置误差，且记录的采样CBF裕度均未低于报告阈值。
英文摘要
Long-reach drilling booms must reach successive poses without self-collision. Moving from operator-supervised control toward autonomy requires collision-aware motion planning and execution. For the Sandvik SB60, this study adapts established methods by integrating pose-parameterized planning with a capsule-based control barrier function quadratic program (CBF-QP) in measured-state inverse kinematics (IK). A fixed task-specific parameter set within each task generates waypoints, detours, timed references, and chained motion without target-specific retuning. The offline detour planner screens candidate waypoints using 23 selected rod-segment-to-body-region distances, whereas the online CBF-QP filters joint velocities using 14 configured capsule-pair constraints from a nine-primitive whole-body capsule model. Evaluation considers two drilling tasks in a manufacturer-developed SB60 Simscape Multibody model: a five-target restricted-orientation tour and a three-target full-pose tour. Across several hundred thousand samples, the method produced zero IK failures, generated several detour waypoints, achieved millimetre-level mean final-position error, and recorded no sampled CBF margins below the reported thresholds.
