摘要
提出一种基于状态空间的机械臂轨迹规划方法,定义并构造了机械臂系统的状态空间,根据内在机构约束与外部环境约束描述出系统状态的可达范围,并给出了任务的可实现条件.对于可实现任务,在状态空间能搜索到任务完成的最优解.如果任务无法完成,则修改系统配置或约束,在新的状态空间确定任务实现的转化条件,并对任务的设计与规划给予指导.研究了障碍约束下两连杆机械臂的点到点任务,实验结果验证了该方法的有效性.
This paper proposes a trajectory planning approach for robot manipulators based on state space. The state space of manipulator system is defined and constructed, by which the reachable scope of the system state is traced out according to the internal physical constraints and external environment constraints. Conditions of performing the task successfully are given. For realizable task, the optimal strategy for task execution is obtained by searching in state space. If the task is unrealizable, it could be transformed to be achievable via adjusting system＇s configuration or constraint, and the transformation condition for task realization is determined in reconstructed state space. This contributes to the design and plan of the robotic tasks. Point-to-point tasks for 2 link manipulator are investigated and experiment results show the validity of the proposed method.
出处
《控制与决策》
EI
CSCD
北大核心
2009年第1期49-54,共6页
Control and Decision
基金
国家自然科学基金海外杰出青年基金项目(60428303)
国家自然科学基金项目(60675041)
关键词
轨迹规划
构形空间
状态空间
状态变迁
Trajectory planning
Configuration space
State space
State transition
