机械手避碰路径规划计算机辅助设计与模拟

Computer-Aided Design and Simulation for the Collision-Avoidance Path Planning of a 2D Robot Arm

本文以离线运动规划方式,使用计算机程序搜寻二维机械手臂的避碰路径的平面直角坐标,以便迅速且合理地求得与避碰路径对应的手臂关节角度。在避碰搜寻过程中,以基本的几何形体代替机械手臂与障碍物的外形来检查手臂的各杆臂是否与障碍物发生碰撞的现象。最后,使用MATLAB软件建立机械手臂与障碍物的实体模型,并读取由程序所产生的关节角度,以进行机械手臂的避碰运动模拟,同时提供视觉上验证避碰路径的可行性。

This paper uses computer simulation approach to search the Cartesian coordinates of an collision-avoidance path for a two-dimensional robot arm.This approach is essential an off-line mtion planning .The joint angles of the robot arm corresponding to a successful path can be efficiently and reasonably obtained by the basic geometry of high school level math,which is used to solve the inverse kinematics problem.In the search process,simple geometric bodies instead of the real shapes of the robot arm and obstacles are used to check the collision between the robot links and obstacles.Finally, using MATLAB software constructs the solid model of the robot arm and obstacles and simulates the collision-avoidance motion by following the path output from the computer program.Using MATLAB also visually provides a way of verifying the feasibility of collision of collision-avoidance paths.