移动平台与机械臂联合作业运动规划研究

Research on the Joint Operation Motion Planning of Mobile Platform and Robotic Arm

为解决复合式自动引导车(Automated Guided Vehicle,AGV)在实际作业中需移动平台到达目标点后机械臂再进行运动的工作模式导致的作业耗时长、效率低的问题,提出复合式AGV移动平台与机械臂的联合作业规划。利用栅格法构建环境地图,采用A*算法和蚁群算法分别对移动平台和机械臂进行运动规划,实现了复合式AGV的移动平台和机械臂的联合作业规划。经实验结果验证,联合作业规划比非联合作业平均节省时间为3.75 s,效率平均提高6.27%。

In the actual operation of the compound AGV,the robotic arm moves after the mobile platform reaches the target point,which is time-consuming and inefficient.In order to solve this problem,the joint operation planning of the compound AGV mobile platform and the robotic arm was proposed.The grid method was used to construct the environment map,and the A*algorithm was used to plan the movement of the mobile platform,and the ant colony algorithm was used to plan the movement of the robotic arm,so as to realize the joint operation planning of the mobile platform and the robotic arm of the composite AGV.The experimental results verify that the average time of joint operation planning is 3.75 s and the efficiency is increased by 6.27% on average compared with non-joint operation.