基于C空间的机器人双手协调避碰路径规划  

Collision-free path planning for dual-robot arms cooperating based on C-space

作　　者：龚进峰[1] 彭商贤[1] 

机构地区：[1]天津大学智能机械研究所,天津300072

出　　处：《制造业自动化》2002年第2期27-30,共4页Manufacturing Automation

基　　金：国家电力总公司;山东电力总公司资助项目(鲁电9912)

摘　　要：提出了一种利用三维工作空间数字势场和遗传算法进行双手协调避碰的机器人路径规划新方法,该方法利用离散化工作空间的距离图的数字势场,通过启发函数的引导在C空间进行搜索,使用交替势场和遗传算法逃离局部极小点。同时使用两种避碰算法,进行操作手与障碍物以及操作手之间的碰撞回避。仿真实验验证了该算法的有效性。A new approach to robot path planning ,which uses 3-D working space numerical potentialand genetic algrithm to plan collision-free path for dual-robot arm cooperating in 3-D space.In this approach, a discretized working space is firstly obtained, and then distance mapand numerical potential are achieved as well. The approach searches path nodes in theC-space guided by heuristic function and escapes the local minima using genetic algorithmand alternative potential. Collisions between manipulators and obstacles, one manipulatorand another manipulator, are avoided by using two kind of method. Simulation result showseffectiveness of the proposed approach.

关 键 词：距离图 数字势场 遗传算法 双手协调 路径规划 机器人 避碰 C空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]