六关节机械臂运动路径设计

Path Planning of Six Axes Mechanical Arm

就关节式机械臂指尖在任意两点间移动、沿固定曲线移动、机械臂绕开障碍物执行任务以及参数优化等问题展开研究.首先确定了自由度组合到指尖空间位置的映射,建立了求解上述问题的最小二乘模型、泛函条件极值模型,并给出了数值解法.最后,结合图像处理等技术,对各参数的优化设计提出了改进措施.

The research is focused on a six axes mechanical arm and can be summarized as follows： move the finger tip from one point to another or along a certain curve, path planning for moving the finger tip rounding obstacles, and optimize the mechanical arm. The mapping between the six degree of freedom and the position of the finger tip is constructed firstly. The nonlinear least square method and functional condition extremum model are introduced to describe the problems and numerical solution of them is proposed. Finally, some advice is given to optimize the parameters in the mechanical arm based on image processing technique.