摘要
文中建立了蒸汽发生器检修用的特殊结构的6轴机械臂的运动学模型,并针对该机械臂的特殊结构及工作环境推导了一种方便的运动学求解方法.在此基础上给出了基于人工势场序列的无碰撞路径规划求解算法。仿真结果验证了算法的可行性.
A kinematic model of a six axes mechanical arm is proposed in this paper,and a kinematic reverse solution method is brought forward.Artificial potential field (APF) is used for the Collision-free path planning.The result of computer simulation is provided.
出处
《弹箭与制导学报》
CSCD
北大核心
2006年第S1期260-264,共5页
Journal of Projectiles,Rockets,Missiles and Guidance