一种基于A*算法的空间多自由度机械臂路径规划方法

A path planning approach for multi-DOF spatial manipulator via A* algorithm

针对机械臂在运动过程中可能会与工作环境中的障碍物发生碰撞的问题,文章提出了一种基于A*算法的机器人避障路径规划算法。在给定的避障环境下运用A*算法搜索一条给定的自起点到终点的最优避障路径,考虑到机械臂在运动过程中的稳定性,采用二次B样条曲线对该路径进行平滑优化;根据标准的D-H法对机械臂进行建模,建立机械臂的运动学方程,并求取一组能够最优实现避障路径的运动学逆解;检测机械臂本体与障碍物是否发生碰撞,若发生碰撞,结合机器人逆解的多解性,重新选择最优的一组可行解。通过软件Solidworks建立虚拟样机导入ADAMS软件进行仿真实验,最终验证了基于A*算法的空间多自由度机械臂避障路径规划的有效性和可行性。

A novel approach for path planning of spatial serial robot manipulator based on A＊ algorithm is proposed, seeking to solve the problem that the manipulator might collide with the obstacles in the work space. Firstly, the optimal obstacle avoidance path from a given start point to the end point is obtained by using A＊ algorithm in a given obstacle avoidance space, and then quadratic B-spline curve is used to smooth the path so as to ensure the stability of the motion. Secondly, the manipulator is modeled and analyzed with standard D-H method, the kinematics equations are built up and a group of optimal inverse kinematic solutions to realize the path are obtained. Finally, this approach detects whether there is a collision between robot and the obstacles, and if there is, then the alternative opti- mal solution is chosen within the multiple solutions of the inverse kinematics. The result of simulation experiment which introduces the virtual prototype established by Solidworks into ADAMS verifies the effectiveness and feasibility of the proposed path planning approach for multi-DOF spatial manipulator to avoid obstacle.