机械手三维操作空间建立与路径规划

Three-dimensional Operation Space Establishment and Path Planning of Manipulator

针对传统路径规划算法在机械手路径规划中未考虑机械臂干涉、搜索效率低、路径不合理等问题,在建立了机械手空间模型,采用二次投影法分析和计算机械手操作空间的基础上,将障碍模型和操作空间栅格化,并提出了改进的遗传算法;在遗传算法的设计中,使用实数编码和三维坐标编码相结合的编码方式将栅格进行编码,改进交叉算子,定义最小基因交叉片段数量比,提高了搜索效率,简化了计算过程;通过Matlab建立了机械手仿真模型,验证了算法的有效性,且在实验条件和实验对象等各项参数相同的情况下,相对于传统路径规划算法,搜索效率,最优路径比等得到明显提升。

According to the traditional path planning algorithm in robot path planning without considering the mechanical arm interference,low searching efficiency and unreasonable path,an improved genetic algorithm is proposed based on the establishment of manipulator space model and the analysis and calculation of manipulator operation space by using two projection method after dividing barrier model and operation space into cubic mesh.In the design of genetic algorithm,methods of using combination of real number coding and 3 Dcoordinate coding,improving crossover operator and defining the minimum gene crossover ratio improve the search efficiency and simplify the calculation process.The simulation model of manipulator is established by Matlab,and the validity of the algorithm is verified.Compared with the traditional path planning algorithm,the search efficiency and the optimal path ratio have been significantly improved under the same experimental conditions and experimental objects.