【摘要】 为满足实时性和安全性的要求,提出了一种动态环境下六自由度机械臂在线运动规划算法。应用这一算法,在运动规划过程中可以兼顾机器人的避障和轨迹的平稳性。针对运动规划过程中出现的轨迹抖动问题,构建了基于自适应权重的优化问题模型。基于UR10机器人平台进行仿真验证,确认所提出的动态环境下六自由度机械臂在线运动规划算法的有效性与优越性。更多还原

【Abstract】 In order to meet the requirements of real-time and safety,an online motion planning algorithm for the 6-DOF manipulator in the dynamic environment was proposed. By applying this algorithm,the obstacle avoidance of the robot and the stability of the trajectory can be considered in the process of motion planning.Aiming at the trajectory whipping problem in the process of motion planning,an optimization problem model based on self-adapting weights was constructed. Simulation verification based on the UR10 robot platform confirms the effectiveness and superiority of the proposed online motion planning algorithm for the 6-DOF manipulator in the dynamic environment.更多还原