Path planning of the robot assembly based on Voronoi diagram  

作　　者：付庄 赵言正 

机构地区：[1]Robotic Research Institute,Shanghai Jiaotong University

出　　处：《Journal of Harbin Institute of Technology(New Series)》2008年第1期39-44,共6页哈尔滨工业大学学报（英文版）

基　　金：Sponsored by the National Natural Science Foundation of China(Grant No60675040)

摘　　要：Based on the concepts of Voronoi diagram that describes geometry information of the robot assembly in C space, the position vector path parameter equation of the assembly movement between the step shaft and two-sided bearing bracket was given. And the path planning strategy of the component initiative assembly was put forward as well. Theoretical analysis proves that using the Voronoi diagram to do the geometry reasoning on the assembly space can evaluate the feasibility of the component assembly, and can present the reference position vector path of the component movement from the initial configuration to the objective configuration, therefore improves the flexibility of the robot initiative assembly.Based on the concepts of Voronoi diagram that describes geometry information of the robot assembly in C space, the position vector path parameter equation of the assembly movement between the step shaft and two-sided bearing bracket was given. And the path planning strategy of the component initiative assembly was put forward as well. Theoretical analysis proves that using the Voronoi diagram to do the geometry reasoning on the assembly space can evaluate the feasibility of the component assembly, and can present the reference position vector path of the component movement from the initial configuration to the objective configuration, therefore improves the flexibility of the robot initiative assembly.

关 键 词：Voronoi diagram initiative assembly position vector path planning 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]