机器人双手协调系统的躲避障碍问题

COLLISION AVOIDANCE PROBLEM FOR DUAL-ROBOT ARMS COORDINATION SYSTEM

  • 摘要: 本文首先讨论了双手协调系统的位姿空间描述问题,包括确定自由度的维滕伯格法、位姿可达空间,以及双手协调系统躲避障碍的位姿空间法,最后提出了现实可行的仿真途径.

     

    Abstract: This paper investigates the configuration space description and collision avoidance problem fordual-robot coordination system, the two cooperating robot arms is modelled as a closed chain system dueto constrained relationship, then an algorithm computing the degree of freedom is given by Wittenburgmethod, and the explicit representation of the reachable configuration space is presented, finally, a procedure solving the paths planning problem for two cooperating robots in the presence of obstacles is developed.

     

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