障碍环境中的6R机器人路径规划与计算机模拟

FINDING COLLISION-FREE PATHS FOR A 6R MANIPULATIOR AND SIMULATING WITH COMPUTER GRAPHICS

本文介绍了一个关于具有6个转动自由度机器人无碰撞路径规划的有效算法。空间的球形结构化描述、路径搜索中的意识腔引入以及采用的逐步逼近法,使算法更有效,并使机器人具有智能。最后本文给出了一机器人的规划结果并以动态显示其避障过程。

An efficient method that finds collision-free paths for a manipulator with six revolute joints is de-scribed.Because of describing the free space by global structure,searching for a path with consciousnesscavity and using divide-and-conquer approach,the robot imitates the psychological activities of humanbeing during a motion process,Thus the method is more efficient and the motion of robot may simulatevigorous human mental and physical activities.