机械臂运动路径设计  

The Design of Mechanical-arm Movement Path

作　　者：刘杰[1] 彭川[1] 覃光成[1] 

机构地区：[1]解放军理工大学通信工程学院,南京210007

出　　处：《数学的实践与认识》2008年第14期80-93,共14页Mathematics in Practice and Theory

摘　　要：采用D-H方法推导出了机械臂角度姿态与指尖空间位置的关系,以距离偏差为目标,建立了给定位置求机械臂参数的优化模型,并提出了二分步长接近式搜索算法求解该模型.进一步从实际工程精度要求出发,提出了确定精度求指令的方法.针对按照确定曲线运行的问题,采取了离散曲线而且相邻离散点之间一条指令可达的方法,并用改进的二分步长接近式搜索算法来求解.提出了解决避障问题的启发式算法和位姿空间变换法.还对机械臂结构进行了理论分析及论证,根据分析结果,针对旋转角度范围、角度量化、杆长选择等方面提出了一些建议.First, we show the relationship of mechanical angle and fingertip with the method D-H, based on the target of distance difference, set up an optimum model and solved by Dimidiate-step adjacent search arithmetic. Combine with practical precision requirement, we proposed the method to find instructions based on the decided precision. Then, we dispersed the curve and guaranteed one instruction can get neighbor point, with this way we solved the problem that fingertip moves on the certain curve and solved by improved Dimidiate-step adjacent search arithmetic. We show heuristic arithmetic and C-Space to avoid obstacle successfully. Finally, with theoretic analysis, we dealt with mechanical structure problem, and based on theoretic conclusions, we give some advices about angle region, angle quantization and arm length, etc.

关 键 词：姿态 二分步长接近式搜索算法 可达区域 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]