李大生, 刘欣, 吴明华, 周济. 基于动力学约束的机器人无碰运动规划[J]. 机器人, 1990, 12(5): 14-19.
引用本文: 李大生, 刘欣, 吴明华, 周济. 基于动力学约束的机器人无碰运动规划[J]. 机器人, 1990, 12(5): 14-19.
LI Dasheng, LIU Xing, WU Minghua, ZHOU Ji. COLLISION-FREE MOVEMENT PLANNING OF ROBOTS WITH DYNAMIC CONSTRAINTS[J]. ROBOT, 1990, 12(5): 14-19.
Citation: LI Dasheng, LIU Xing, WU Minghua, ZHOU Ji. COLLISION-FREE MOVEMENT PLANNING OF ROBOTS WITH DYNAMIC CONSTRAINTS[J]. ROBOT, 1990, 12(5): 14-19.

基于动力学约束的机器人无碰运动规划

COLLISION-FREE MOVEMENT PLANNING OF ROBOTS WITH DYNAMIC CONSTRAINTS

  • 摘要: 本文旨在通过分析机器人系统的动力学特性来研究机器人在其工作环境中如何避开障碍物且按照预定路径运动的轨迹规划问题.文中提出了一种综合考虑多种约束条件的线性规划算法,该算法能够连续地调整系统的内能,且给出预期的运动轨迹.该算法已在IBM-PC2/80机上实现,成功地应用于我国某核电站的一反应蒸发器中检测机器人的无碰三维运动规划.文中给出了这一规划的结果及其图形仿真.

     

    Abstract: The purposc of this paper is to study trajectory planning of robots which keep clear of obstacles in the workspaces and follow given paths based on considering the dynamics of robot systems. An algorithm using linear programming is presented under many types of constraints. This algorithm enables succesive adjustment of artificialpotentials and gives desired joint trajectories. The algorithm has been effectively applied to collision-freemovement planning of a measuring robot in a nuclear power station. As an example, the results and 3D graphicssimulation of the collision-free movement planning are given.

     

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