摘要
针对工业机器人圆周铺料作业需求,研究了现有的避障路径规划方法。分析了末端操作手在凹形障碍物中的自由运动空间,改进了A*算法的估价函数,设计了关于姿态角的估计路径耗费,并将估价函数引入RRT算法中,同时提出了基于RRT思想的A*算法。最后,通过仿真实验验证了改进后算法的可行性,并对比了各算法的执行效率。
The path planning algorithms for the terminal hand of industrial robot are modified to meet the demands of paving material in barrel after analysing the free motion space of the terminal hand.Firstly,modifying the evaluation function used in A＊ algorithm by adding the evaluation function of the angle of the terminal hand.Second-ly,modifying RRT algorithm by using evaluation function.Thirdly,proposing the modified A＊ algo-rithm based on the RRT algorithm.Lastly,confir-ming that the modified algorithms are feasible;and comparing the efficiency of these algorithms to find out the best algorithm.
出处
《机械与电子》
2014年第8期78-80,共3页
Machinery & Electronics
关键词
工业机器人
位姿路径规划
基于
RRT的A＊算法
改进A＊算法
改进
RRT
算法
industrial robot path planning of position and pose A＊ algorithm based on RRT algorithm the modified A＊ algorithm the modified RRT algorithm
