一种新型机器人多自由度关节的路径规划方法  

A Method of Path Planning for New Robot Joint with Multi-DOF

作　　者：胡香玲[1] 李宪章[1] 冯浩[1] 华亮[2] 

机构地区：[1]浙江工业大学智能信息系统研究所,浙江杭州310014 [2]南通大学电气工程学院,江苏南通226000

出　　处：《机电工程》2006年第2期58-62,共5页Journal of Mechanical & Electrical Engineering

摘　　要：介绍了一种新型机器人多自由度关节的结构,对该关节路径规划问题的特殊性进行了分析和探讨,并在此基础上提出了一种将路径空间中的点映射到β-γ平面的路径规划新方法———β-γ平面规划法。该方法通过在上位机上进行β-γ平面路径规划,控制下位机来驱动基于超声波电机控制的关节,使关节沿规划的路径指向空间目标点并避免进入死区。通过建模和仿真,证实了该方法可以降低路径规划的难度,使之变得简单直观。The paper introduces the structure of the joint with multi-DOF at first, then analyzes and discusses the particularity of the path planning. Based on this, a new method named β-У coordinate path planning which makes the point in space mapped into the β-У coordinate is presented. In this method, β-У coordinate path planning can be done on upper-computer and control down-computer to drive joint which controlled by Ultrasonic Motor（USM）, then make the joint point to the target point along the path and avoid enter into the dead-zone. Simulation and model-building prove that the method can reduce the difficult of path planning and make it easy.

关 键 词：机器人 多自由度 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]