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基于速度修正项的机械臂避障路径规划

DOI: 10.13195/j.kzyjc.2013.1212, PP. 156-160

Keywords: 机械臂,避障路径规划,速度修正项,B样条曲线

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Abstract:

针对机械臂运行过程中存在的碰撞问题,提出一种基于速度修正项的机械臂避障路径规划方法.利用B样条曲线进行机械臂关节空间规划,使机械臂能够在特定时刻运行到指定构型.在运行过程中,利用碰撞检测算法实时计算机械臂与障碍物的最小距离,在碰撞即将发生时引入积分为零的避障速度修正项改变机械臂运行轨迹,使得机械臂能够在实现障碍回避的同时,保证其在特定时刻通过指定构型的要求.仿真实验表明了所提出方法的正确性和有效性.

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