摘要
在考虑了操作机的关节极限、自碰撞和静态障碍物的情况下,从给定的初始位形出发,发现一条到末端效应器目标位置和姿态的相连可到达路径。方法给出了机器人操作机点到点逆运动学问题求解算法,利用碰撞算法实现了冗余度机器人运动规划,仿真验证了该方法的有效性,并表明了该方法具有较大的实用价值。
Based on collision detection algorithm, a motion planning method for globally solving for the point-to-point inverse kinematics of robotic manipulators with high redundancy is developed. It can capture the connectivity of the connected components of the free configuration space from initial configuration to the objective configuration for the manipulators with constrains due to the joint limits, self-collision and obstacles in the environment. The efficiency and the practical value of the method is illustrated.
出处
《电子科技大学学报》
EI
CAS
CSCD
北大核心
2005年第6期828-831,864,共5页
Journal of University of Electronic Science and Technology of China
关键词
碰撞算法
冗余度机器人
运动规划
逆运动学
collision algorithm
redundant robot
motion planning
inverse kinematics