摘要
文章首先分析了六自由度机械臂的特点,针对单个障碍物的避碰问题进行建模;接着设计了机器人避障的通用算法,利用该算法很好地解决了机器人的机械臂避碰问题,使机器人有效避障且完成任务。
The paper firstly analyses the machine arm＇s traits, and builds the obstacle avoiding modal based on the single obstacle; then, designs the universal arithmetic about the robot. The arithmetic in this paper can well solve the problem of the obstacle avoiding, making the robot effectively avoid the obstacles and accomplish the task.
出处
《微计算机信息》
北大核心
2008年第29期230-231,共2页
Control & Automation
关键词
自由度
规避
动态规划
Freedom
Obstacle Avoidingi Dynamic Programming
