基于改进图规划的机械臂任务规划方法

Manipulator Task Planning Method Based on Improved Graph Planning

针对机械臂工作场景复杂、任务需求多样的特点,提出了一种基于改进图规划的机械臂任务规划方法.首先建立针对机械臂任务规划的通用数学表征模型;其次结合机械臂的任务特性与改进模拟退火算法,提出一种基于图规划的改进任务规划算法,将传统算法单一的规划结果拓展为任务动作序列集合;最后,基于该集合求解融合不同目标的机械臂任务执行策略,并以七自由度机械臂为仿真对象对该方法的正确性和有效性进行了验证.结果表明,与传统规划方式相比,提出的方法具备优先考虑不同目标任务执行策略的能力,同时可以有效缩短规划时间.

In order to deal with the complex work scene and diverse task demands of manipulator task,a manipulator task planning method based on improved graph planning is proposed. Firstly a common mathematical model of manipulator task planning is established,and then combined with the task characteristics of manipulator and the improved simulated annealing algorithm,an improved task planning algorithm based on graph planning is proposed,which extends the single planning result of traditional algorithm to the set of task action sequences. Finally,the task execution strategy is solved by fusion of different targets. A simulation of 7-degree of freedom manipulator verifies the correctness and effectiveness of the proposed method. The results show that compared with the traditional task planning algorithm,the proposed method has the ability to prioritize tasks with different targets and can shorten plan time.