基于危险指数最小化的机器人安全路径规划

Robot's safety path planning based on minimum danger index

为防止机器人在运动过程中与人相撞,提高机器人运动的安全性,本文提出一种基于危险指数最小化的机器人安全路径规划方法。该方法将危险指数与改进人工势场法融入到机器人的安全路径规划中。在人机共处的非结构化环境中,首先计算出机器人的危险指数,并以危险指数最小化为目标规划机器人的路径。建立了三自由度机器人与人共处仿真模型,通过路径规划仿真,结果表明,基于危险指数最小化的机器人安全路径规划,可以有效确保机器人工作环境中人的安全性。

In order to prevent robot colliding with people and improve robot safety in the course of performance, this paper presents a method of robot＇ s safe path planning based on minimum danger index,into which the danger index and improved artificial potential field are integrated. In unstructured man -machine environment, the danger index is computed, and the robotg path is planned to minimize the danger index. Therefore, a simulation model of a three - DOF robot coexisting with man is established. Through the path planning simulation, the calculation verifies that the robot safe path planning based on minimum danger index ensures human safety in work environment with robot.