摘要
研究了双臂机器人无碰撞运动规划问题 ,将 C空间法成功地应用于双臂机器人的无碰撞运动规划 ,并提出了从臂无碰撞状态数据库 (CSDB)概念 .在本算法中 ,双臂机器人无碰撞运动规划问题被归结为对从臂无碰撞状态数据库的搜索 .运用该算法可以找到一条最优的无碰撞运动轨迹 ,并已在双臂 SCARATES型机器人上通过试验论证 .结果表明 。
This paper focused on the collision-free motion planning of dual-arm robot. The method of configuration space was successfully applied to the motion planning of dual-arm robots, and a new concept of slave-arm collision-free state database (CSDB) was presented. The dual-arm robot collision-free motion planning is regarded as searching a set of data in the CSDB. With this method, an optimum trajectory would be found. It was proved in the dual-arm articulated robot. The results ascertain that the algorithm is feasible and effective.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2001年第1期54-58,共5页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金资助项目 !(5 9875 0 5 9)
"86 3"机器人装配系统网点实验室基金! (86 3-5 12 -982 0 -0 4)资助项目
关键词
双臂机器人
运动规划
无碰撞状态数据库
C空间
无碰撞运动轨迹
避碰算法
Algorithms
Collision avoidance
Computer simulation
Database systems
Motion planning
Optimization
Robotic arms
Trajectories