摘要
文章在分析凿岩机械手的机构结构的基础上,求出机械手在工作面上的最大最小工作区间,然后运用模糊理论的相关知识将两凿岩机械手的工作区间进行合理分区,确定两钻臂在这些区域产生碰撞的模糊隶属度,从而引入“区域避碰”理论进行合作任务规划.在考虑两机械手工作进度产生一定变化和机械手在运动中所有关节变化量最小的基础上,引入双向A*算法搜寻最优路径.通过仿真研究证明,文章提出的方法计算简单,规划的路径在一定程度上可满足实际工作的需要,
This paper adopts the correlation knowledge of the fuzzy theory and the double -- direction A * algorithm to plan the cooperation mission of ho manipulators on the individual. At first , we partition the work area of the manipulator in reason, then confirm the value of membership function to judge the probability of collision, thereby introduce the theory of 'avoiding area collision'. Taking into account the different work schedule of two manipulators and the least value of all joint change, this paper introduces the double -- direction A* algorithm to the optimal nodes path. Our method is proved to be very effective by simulation.
出处
《南华大学学报(自然科学版)》
2001年第2期1-4,共5页
Journal of University of South China:Science and Technology
基金
国家"八六三"重大项目"隧道凿岩机械人"一课题编号:863-512-9806-01
关键词
凿岩机器人
A*算法
任务规划
模糊理论
the two boom tunnel -- drilling robot
double -- direction A* algorithm
mission planning
fuzzy theory