基于模糊变结构补偿的机械臂运动路径避障规划算法

Obstacle avoidance planning algorithm of manipulator motion path based on fuzzy variable structure compensation

机械臂的活动范围可以自由调整,其准确的运动规律较难获取,导致机械臂运动路径避障规划存在规划效果差、规划路径长以及规划耗时长的问题,为此提出基于模糊变结构补偿的机械臂运动路径避障规划算法。该算法首先对机械臂进行相关动力学分析,将分析结果与模糊变结构相结合对机械臂力矩进行补偿控制;然后使用Q-learning算法计算补偿控制结果,获取路径最佳规划策略;最后通过该策略完成机械臂避障路径的规划。实验结果表明,使用该算法进行路径规划时的规划结果较为准确,规划路径短且规划耗时短。

The range of motion of the manipulator is flexible,and the accurate motion law is difficult to obtain.As a result,the planning effect is poor,the planning path is long and the planning time is long.Therefore,a fuzzy variable structure compensation algorithm is proposed.Firstly,the dynamics of the manipulator is analyzed,and the torque of the manipulator is compensated by combining the analysis results with the fuzzy variable structure.The Q-learning algorithm calculates the compensation control results and obtains the optimal path planning strategy.Finally,the obstacle avoidance path planning of the manipulator is completed by this strategy.The experimental results show that using this algorithm for path planning,the planning results are more accurate,the planning path is short,and the planning time is short.