基于人工势场法的管件切割路径规划

Path planning of cutting pipe fittings based on artificial potential field

大型船厂对管件的切割焊接中,采用机械臂的自动切割、焊接及其编程规划问题是亟待解决的问题。阐述了基于人工势场的割枪切割管件的运动路径规划方法。在切割路径规划中,定义引力函数和斥力函数,通过MATLAB科学计算程序实现了所提出规划算法,并应用于Kuka机器人。仿真结果表明,所规划的机器人末端轨迹的准确性和可行性。

In cutting and welding pipe fittings in large seale shipyard,it is needed to adopt automatic cutting and welding with robotic arm,programming the path planning.Expatiates the methodes of the path planning of cutting pipe fittings base on artificial potenial field.In cutting path planning,definetes the attractive force function and the repulsive force function,realizes the path planning methodes by MATLAB algorithm,and applies to KUKA robot.The simulation results show the precision and feasibility of the end trajectory of the robot by the path planning.