摘要
提出一种基于深度优先搜索和随机关节构型生成的主作业约束下的冗余自由度机器人的自运动避障规划方法。利用机器人自运动特性,给出关节构型随机生成算法,用于求取给定作业位姿点对应的若干随机关节构型,进一步结合提出的深度优先搜索策略,可由起始点开始逐一从作业位姿点的随机关节构型中选取出一个无碰的关节构型,进而形成一条无碰关节轨迹。以7自由度焊接机器人MOTOMAN VA1400为例进行仿真研究。研究结果表明:该方法可以有效实现机器人的自运动避障规划。
A self-motion planning method for a redundant manipulator subject to the primary task constraint was proposed based on random generation of joint configurations and depth-first search.Exploiting the self-motion property of a redundant manipulator,a random configuration generation algorithm of a manipulator configuration was proposed for solving a set of joint configurations corresponding to a given end-effector pose and a depth-first search strategy was designed to find a collision-free configuration from the configuration set generated at random.By repeating the process for every pose from the initial to the end one in the task,a collision-free joint path can be obtained eventually.Taking a redundant manipulator of MOTOMAN VA1400 as an example,a simulation study was carried out.The result shows that the method presented is effective.
出处
《中南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2013年第S2期98-103,共6页
Journal of Central South University:Science and Technology
基金
国家自然科学基金资助项目(61175113
61004035)
复杂工程系统测量与控制教育部重点实验室开放基金资助项目(MCCSE2012B03)
关键词
冗余度机器人
自运动流形
运动规划
轨迹约束
redundant manipulator: self-motion manifolds
motion planning
constrained task
