摘要
为解决现有机械臂避障算法计算量大且难以实现非结构环境下三维避障问题,对分解运动速度控制算法(RMRC)进行了改进,并将其应用到Motoman机械臂三维避障中。通过对Motoman机械臂机构的合理简化和RMRC算法的进一步改进,利用Matlab搭建的Motoman机械臂仿真模型,在具有静态和动态障碍物的三维环境中对连续轨迹(CP)和点到点(PTP)的运动控制进行了仿真,最后利用所搭建的遥操作系统对改进后的算法进行验证。仿真和实验结果证明了算法的有效性和实用性。
To the problems of the large amount calculation of existing obstacle avoidance algorithm and the difficulty to avoid obstacles in three-dimensional（3D） space of unstructured environments,an improved resolved motion rate control（RMRC）method is proposed,which is applied to the 3D obstacle avoidance of the Motoman manipulator.By reasonable simplification of the robot structure and further improvement of RMRC,the motion controls of CP and PTP are simulated in 3D environment with static and dynamic obstacles using the simulation model built with Matlab.The improved algorithm is tested with the established teleoperation system.Simulation and experimental results indicate that the algorithm is effective and feasible.
出处
《控制工程》
CSCD
北大核心
2010年第5期669-673,共5页
Control Engineering of China
基金
教育部博士点基金资助项目(200802140005)
黑龙江省自然科学基金资助项目(F200808)
