空间机器人机械臂避障工作空间的研究

Research on Obstacle Avoiding Planning Workspace of Space Robot with Robotic Arm

避障工作空间(obstacle avoiding planning workspace,缩写为OAPW,简称避障空间)的研究是机器人路径规划过程中一个至关重要的问题。论文首先利用DH参数建立了空间机器人机械臂,其次工作空间与障碍物的模型建立采用了蒙特卡罗方法。然后描述了避障工作空间建立的方法。最后,仿真出三维空间内的避障空间模型。

Research on obstacle avoiding planning workspace(abbreviated as OAPW)is a crucial issue in robot path planning process.This paper firstly establishes the space robot robotic arm by using the DH parameter.Secondly,Monte Carlo method is used to establish the model of the working space and obstacles.Then,this paper describes the method of establishing obstacle avoidance workspace.Finally,this paper simulates the obstacle avoidance space model in three-dimensional space.