基于个体的两机械手合作任务规划

The Cooperation Mission Planning of Two Manipulator on the Individual

运用模糊理论的相关知识和双向 A*算法规划基于个体的 2机械手合作任务 ,对机械手的工作区间进行合理分区 ,确定 2钻臂在这些区域产生碰撞的模糊隶属度 ,从而引入双向 A*算法搜寻最优路径。通过仿真研究证明 ,此方法计算简单 ,规划的路径在一定程度上可满足实际工作的需要。

This paper adopts the correlation knowledge of the fuzz theory and the doubledirection A algorithm to plan the cooperation mission of two manipulator on the individual.At fist,we partition the work area of the manipulator in reason,then take into account the different work schedule of two manipulator and the least value of all joint change, this paper introduces the doubledirection A algorithm to the optimal nodes path. Our method is proved to be very effective by simulation.