摘要
文章首先通过MATLAB Robotic Toolbox和Denavit-Hartenberg (D-H)参数对机械臂进行了运动学建模;然后,基于点云的Monte Carlo (蒙特卡洛)方法建立三自由度机械臂工作空间和障碍物点云模型,应用几何学得出机械臂和障碍物之间的位置关系,确定机械臂的避障工作空间;最后,基于Dijkstra算法在三维避障工作空间中进行路径规划得出最短路径,验证了算法的可行性。
Firstly,the kinematics modeling of the manipulator was carried out by MATLAB Robotic Toolbox and DenavitHartenberg(D-H)parameters.Secondly,based on the Monte Carlo method of point cloud,the workspace and obstacle point cloud model of three-degree-of-freedom manipulator were established.The position relationship between the manipulator and the obstacle was obtained by using geometric position relation,and the obstacle avoidance workspace of the manipulator was determined.Finally,the shortest path was obtained by path planning in 3 Dobstacle avoidance workspace based on Dijkstra algorithm,which verified the feasibility of the algorithm.
作者
张亚宾
曹毅
郭梦诗
ZHANG Yabin;CAO Yi;GUO Mengshi(College of Electrical Engineering,Henan University of Technology,Zhengzhou 450001,China)
出处
《电工技术》
2019年第14期122-123,139,共3页
Electric Engineering
