环境信息有限条件下的机器人避让操作运动

Avoiding Operations of Robot Motion in Restricted Environment Information Condition

机器人在复杂环境中工作时,必须能够自动地避让或绕行障碍物,尤其是当障碍物的位置或坐标参数事先都不知道时,其机械手的操作运动就更为复杂。因此,在环境信息缺少或有限的情况下,讨论机器人操作的控制方法是十分有意义的。文章提出了机器人在陌生或复杂环境中绕行障碍物的方法,这种方法只需要关于机械手附近存在障碍物的局部(或少量)信息,就可以在实际操作过程中利用适当的算法形成所需的避让控制运动。仿真的结果表明,这种算法是十分有效的,其编程和数据处理也比较简便。

As Robot works in the complicated environment, it must avoid or round the stumbling blocks automatically. Particularly , when the position or the coordinate parameters of the stumbling blocks are not known in advance, the operation movements of its manipulator are more complicated. Therefore, when the environment information is lacking or limited, the discussion about the controlling method of robot operation is very meaningful. The paper puts forward a method for the robot to make the round of stumbling blocks in strange or complex environment. This method needs only part（ or a little amount） of information about the stumbling block, and can use the appropriate calculating way to form the wanted avoiding control motion in actual operation process. Simulating result shows that this kind of calculating way is very effective and its programming and data processing will be more simple.