【摘要】 针对移动机械手的动态不均匀性及运动冗余性,参考人类完成任务时的行为,本文提出了一种分级协调路径规划法,以及一种动态加权的优化策略,对移动机械手的路径进行离线规划,在避障的前提下保证了移动机械手性能指标最优。在VC++下通过OpenGL进行了仿真,取得了令人满意的结果。更多还原

【Abstract】 Aiming at the dynamic nonhomogeneity and kinematic redundancy, making reference to the actions of human beings, we propose a new hierarchical approach of coordinated path planning for mobile manipulateors, and a dynamic weighting strategy, which can avoid obstacles and get the best results of optimization. At last we make simulation by OpenGL in VC++ and get satisfactory results.更多还原