基于Matlab与CoppeliaSim联合仿真的高空作业车机械臂路径规划研究

Aerial vehicle manipulator working path planning based on Matlab and CoppeliaSim joint Simulationon

以高空作业车在城市绿化中进行高空修枝作业为背景,为提高机械臂路径规划仿真真实度,建立了一种基于Matlab和CoppeliaSim联合仿真的机械臂路径规划研究平台。该平台的机械臂和所处环境由CoppeliaSim构建,路径规划采用基于蚁群算法(ACO)的三维路径规划算法并由Matlab实现。通过结合Matlab在算法开发和数值计算方面的优势与CoppeliaSim在仿真方面的优势,可以直观方便地验证机械臂的路径规划仿真研究。仿真结果表明:机械臂系统具有较好的轨迹跟踪能力,为机械臂路径规划研究提供了理论依据和实验基础。

In order to improve the authenticity of manipulator path planning simulation in aerial pruning,this paper established a manipulator path planning research platform based on joint simulation of Matlab and CoppeliaSim.The manipulator and environment of the platform are constructed by CoppeliaSim.The path planning method used the three-dimensional path planning algorithm based on ant colony algorithm which is realized by Matlab.By combining the advantages of Matlab in algorithm development and numerical calculation and the advantages of CoppeliaSim in simulation,the path planning simulation of manipulator is proved to be intuitive and convenient verified intuitively and conveniently.The simulation results show that the manipulator system has good trajectory tracking ability,and thus provides a theoretical and experimental basis for the research of manipulator path planning.