基于个体的两凿岩机械手合作任务规划

The Cooperation Mission Planning of Two Manipulators on the Individual

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.