冗余机械臂空间轨迹规划综述  

A Review of the Space Trajectory Planning of Redundant Manipulator

作　　者：高涵[1] 张明路[1] 张小俊[1,2] Gao Han Zhang Minglu Zhang Xiaojun(School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China)

机构地区：[1]河北工业大学机械工程学院,天津300130 [2]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080

出　　处：《机械传动》2016年第10期176-180,共5页Journal of Mechanical Transmission

基　　金：国家高技术研究发展计划(863计划)(2015AA043101)

摘　　要：冗余机械臂可以利用多余的自由度避开障碍物,而又不影响末端执行器的操作。因此与一般非冗余机械臂相比,冗余机械臂处理避障问题具有明显优势。目前关于冗余机械臂空间轨迹规划的研究还未形成一套整体的框架归类,因此有必要对现有研究成果进行系统分析和深入总结。文中探讨了冗余机械臂空间轨迹规划的基本原理和实际应用,将其按照建模原理不同划分为五大类,详细归纳了这些方法的优势和不足,并对冗余机械臂空间轨迹规划未来发展趋势进行了构想和展望。The redundant manipulator can use redundant degree of freedom to avoid obstacles, but it does not affect the operation of the end effecter. So comparing with general non - redundant manipulator, the redundant manipulator has obvious advantages for dealing with obstacle avoidance. Recently, the space trajectory planning research of redundant manipulator has not yet formed a set of overall framework. It is necessary to analysis and in - depth summary the existing research results of system. The space trajectory planning of redundant manipulator basic theory and practical application are discussed. According to the different modeling prin- ciple, it is divided into five categories. The advantages and disadvantages of these methods are Summed up in detail and redundant manipulator trajectory planning conception and the future development trend are prospected.

关 键 词：机械臂 冗余 轨迹规划 避障 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]