冗余度机械手回避多边形窗口障碍的方法及仿真  

Methodology and simulation of evading polygon window obstacles for redundancy manipulator

作　　者：沈凌[1] 喻洪流[1] 吴伟国[2] 

机构地区：[1]上海医疗器械高等专科学校精密医疗器械系,上海200093 [2]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001

出　　处：《机械设计》2008年第3期13-15,22,共4页Journal of Machine Design

摘　　要：障碍物回避问题是冗余度机器人应用研究中的重要内容。针对封闭、非封闭、有厚度的多边形窗口障碍模型,定义了回避障碍作业准则函数,提出一种简单、通用的回避均匀厚度障碍的方法,并考虑到了若干个同类附加作业间的优化问题,以及回避障碍算法和传感器信息的结合使用问题。最后,通过对一个7-DOF机械手进行仿真,验证了方法的正确性。Problems of obstacle evading is an important content in the application study of redundancy robot. Directed against the obstacle models with closed, unclosed, thicken polygon windows, the criterion function for evading obstacle task was defined. A kind of simple and all purposed method for evading the obstacle of uniform thickness was put forward. The optimization problem among certain numbered alike additional tasks and the problems of evading obstacle algorithm and combined employment of sensor information have been taken into account. Finally, the correctness of this method was verified by means of carrying out a simulation on a 7-DOF manipulator.

关 键 词：冗余度机械手 逆解 障碍回避 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]