基于避障工作空间的平面机器人机械臂的路径规划（英文）  

Path planning for planar robot manipulator based on obstacle avoidance workspace

作　　者：李亚云[1] 曹毅[1] 石庆升[1] 

机构地区：[1]河南工业大学电气工程学院,郑州450001

出　　处：《机床与液压》2016年第18期48-54,60,共8页Machine Tool & Hydraulics

基　　金：the Key Scientific Research Projects of Institutions of Higher Learning in Henan Province (No. 16A413003);the Nature Science Foundation of China (No. 61403124)

摘　　要：针对多关节机械臂的运动避障问题,提出了一种基于避障工作空间路径规划方法。首先,利用基于射线和相交点的计算机图形学方法建立避障空间(简称为OAPW);其次,在避障空间内,利用D-H坐标方法和MATLAB Robotics工具箱建立了一个具有3个转动关节的机械臂模型;再次,通过最短路径的性能指标规划出最短路径。考虑到运动机械臂与障碍物之间的干涉问题,因此利用障碍物膨胀化方法规划出安全距离的最短路径。最后,运用运动学正反解和插值运算实现机械臂在无障碍物、避障、安全距离避障3种情况下的仿真。A path planning method based on obstacle avoidance workspace is proposed for collision-free movements of multi-joint manipulators. Firstly,computer graphics based on the methods of ray and intersecting points is used to depict the Obstacle Avoiding Planning Workspace（ OAPW）. Secondly,within the OAPW,a 3-rovolute-joint（ 3R） planar robot manipulator model is created by using the D-H coordinates method in MATLAB Robotics Toolbox. Thirdly,performance indicators of the shortest path are used to path planning. Taking into account the contacting interference between the movement of the manipulator and the obstacle,an obstacles expansion method is adopted to the safe distance of the shortest path. Finally,these cases,i. e. the absence and nonabsence of obstacles,and expansion of obstacles,are simulated by applying the forward / inverse kinematics of the manipulator and the interpolation arithmetic.

关 键 词：避障工作空间 路径规划 机器人机械臂 数学集合 计算机图形学 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]