【摘要】 隧道凿岩机器人是一种典型的基于个体的多臂多关节机器人系统 ,对各关节运动方向进行取值 (同向为1,异向为 0 )并对其进行一定的处理 ,以建立遗传算法的适应度函数 .在应用遗传算法规划单臂凿岩机器人工作任务的基础上 ,对单臂任务序列运用一种循环移位的方法 ,对单臂工作序列采取截取、移位使两臂凿岩机器人不存在彼此互相干涉的工作任务 ,同时能动态地调整两臂均能共同工作到的区间内任务来平衡各臂的工作任务 ,以实现最大的工作效率 .更多还原

【Abstract】 In the paper,a new algorithm to plan assignment sequence of the two-boom multi-joint robot is presented based on the assignment planning of a boom.The direction of the movement of a robot joint is regarded as a numerical value to count adaptation function for assignment planning of a boom,and the planning of a boom is changed with shift-loop to make the assignment sequence without intermeddle.At the same time,the assignment of the partial operation region of two booms is made balanceable to produce the global assignment planning.更多还原