摘要
利用图解法对弹药装填机器人工作空间的截面进行了分析,而后根据由数值法衍生而来基于随机抽样的蒙特卡洛法对弹药装填机器人工作空间进行了仿真与求解,并对两者所求得的工作空间进行了对比分析,弥补了两种分析方法各自存在的不足,得到了弹药装填机器人在复杂工作环境与任务下的工作空间,为下一步进行机器人的轨迹规划、避障和运动控制奠定了基础。
The cross-section of the workspace of the ammunition auto-loading robot was analyzed by use of the graphical method,and the workspace of the ammunition auto-loading robot was simulated and solved by means of Monte-Carlo method derived from a numerical method based on random sampling.In addition,by comparison of the two obtained workspaces,the respective shortcoming of two analytical methods was compensated,and the workspace of the ammunition auto-loading robot under the complex working environment and task was acquired.The analysis results can provide a good foundation for path planning,obstacle avoidance and motion control of the robot in the next step.
出处
《火炮发射与控制学报》
北大核心
2014年第2期16-19,共4页
Journal of Gun Launch & Control
基金
军队科研计划项目资助
关键词
弹药装填机器人
工作空间
图解法
蒙特卡洛法
ammunition auto-loading robot
workspace
graphical method
Monte-Carlo method
