| 冗余度机器人的运动规划碰撞算法 |
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| 引用本文： | 李刚俊.冗余度机器人的运动规划碰撞算法[J].电子科技大学学报(社会科学版),2005(6). |
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| 作者姓名： | 李刚俊 |
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| 作者单位： | 成都电子机械高等专科学校机电系 成都610031 |
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| 摘 要： | 在考虑了操作机的关节极限、自碰撞和静态障碍物的情况下,从给定的初始位形出发,发现一条到末端效应器目标位置和姿态的相连可到达路径。方法给出了机器人操作机点到点逆运动学问题求解算法,利用碰撞算法实现了冗余度机器人运动规划,仿真验证了该方法的有效性,并表明了该方法具有较大的实用价值。
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| 关 键 词： | 碰撞算法 冗余度机器人 运动规划 逆运动学 |
Collision-Based Motion Planning for Redundant Robot |
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| LI Gang-jun.Collision-Based Motion Planning for Redundant Robot[J].Journal of University of Electronic Science and Technology of China(Social Sciences Edition),2005(6). |
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| Authors: | LI Gang-jun |
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| Abstract: | Based on collision detection algorithm, a motion planning method for globally solving for the point-to-point inverse kinematics of robotic manipulators with high redundancy is developed. It can capture the connectivity of the connected components of the free configuration space from initial configuration to the objective configuration for the manipulators with constrains due to the joint limits, self-collision and obstacles in the environment. The efficiency and the practical value of the method is illustrated. |
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| Keywords: | collision algorithm redundant robot motion planning inverse kinematics |
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