【摘要】 给定机械手的初始形态和终端所希望的轨迹以及在工作空间内的障碍物,本文研究冗余度机器人无碰撞运动的规划问题,提出了基于J函数障碍物躲避的算法.关节坐标空间的安全轨迹的计算可通过障碍物躲避的性能指标而得到.由于J函数的计算仅与一些极点有关,计算量小,便于实时控制.仿真结果证明了所提出的算法的有效性.更多还原

【Abstract】 Redundancy can be utilized for avoiding obstacles while tracking a desired trajectory. Given an initial manipulator configuration, a desired manipulator end-effectir trajectory, and a sst of obstacles located in space, the collision-free motion planning for redundant robots is discussed. An algorithm for obstacle avoidance based on J-function has been proposed. The calculation of the safety trajectory in the space of joint coordinates is obtained by obstacle avoidance performance criterion, J function stands for the distance between the redundant robot and obstacles. Since J function is related to only some extreme points, the algorithm is convenient for real-time implementation due to less computing workload required. The efficiency of the algorithm proposed is verified by simulation results.更多还原