基于C空间的双臂机器人无碰撞运动规划

Collision Free Motion Planning of Dual-Arm Robot Based on C -Space

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.