全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

基于导航势函数法的六自由度机械臂避障路径规划

DOI: 10.15918/j.tbit1001-0645.2015.02.015

Keywords: 导航势函数 人工势场 避障 路径规划 机械臂 OpenGL

Full-Text   Cite this paper   Add to My Lib

Abstract:

以MOTOMAN MH6型机械臂为研究对象,运用导航势函数法对机械臂的碰撞路径规划展开研究. 根据机械臂的几何特点对机械臂进行简化,并结合球型包络算法分析了障碍物与机械臂碰撞的临界条件,计算出机械臂运动的自由空间. 导航势函数法有效解决了传统人工势场法的"局部极小值陷阱"问题,由于预先消除了目标点以外的极小值,机械臂能够顺利到达目标点. 通过数值仿真,解决了导航势函数控制参数的选取问题,并在基于OpenGL的虚拟实验平台中进一步验证了该方法的有效性和可行性

References

[1]  丑武胜,王朔.基于虚拟力的的冗余度机器人自主避障研究[J].中国机械工程,2011,22(24):2899-2902. Chou Wusheng, Wang Shuo. Research on obstacle avoidance by virtual force for redundant robot[J]. China Mechanical Engineering,2011,22(24):2899-2902.(in Chinese)
[2]  ?lajpah L,Nemec B. Kinematic control algorithms for on-line obstacle avoidance for redundant manipulators[C]//Proceedings of Conference on Intelligent Robots and Systems. Lausanne, Switzerland: IEEE, 2002:1898-1900.
[3]  Wu X J, Tang J, Li Q, et al. Development of a configuration space motion planner for robot in dynamic environment[J]. Robotics and Computer Integrated Manufacturing, 2009,25:13-31.
[4]  Sánchez-Torrubia M G, Torres-Blanc C, López-Martínez M A. Pathfinder: a visualization math teacher for actively learning Dijkstra\'s algorithm[J]. Electronic Notes in Theoretical Computer Science, 2009,224(1):151-158.
[5]  Flacco F,De Luca A,Khatib O. Motion control of redundant robots under joint constraints: saturation in the null space[C]//Proceedings of International Conference on Robotics and Automation. Saint Paul, Minnesota, USA: IEEE, 2012:285-292.
[6]  Hasan A T, Ismail N, Hamouda A M S, et al. Artificial neural network-based kinematics Jacobian solution for serial manipulator passing through singular configurations[J]. Advances in Engineering Software, 2010,41:359-367.
[7]  Choset H, Lynch K, Hutchinson S,et al. Principles of robot motion-theory, algorithms, and implementation[M]. Cambridge, Massachusetts: The MIT Press, 2005:109-155.
[8]  朱毅,张涛,宋靖雁.未知环境下势场法路径规划的局部极小问题研究[J].自动化学报,2010,36(8):1122-1129. Zhu Yi, Zhang Tao, Song Jingyan. Study on the local minima problem of path planning using potential field method in unknown environments[J]. Acta Automatical Sinica, 2010,36(8):1122-1129.(in Chinese)

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133