基于插值算法的平面机器人机械臂路径规划研究  

Research on Path Planning of Planar Robotic Manipulator Based on Interpolation Algorithm

作　　者：郭梦诗 曹毅[1] 张亚宾 刘海洲 GUO Mengshi;CAO Yi;ZHANG Yabin;LIU Haizhou(College of electrical engineering,Henan University of Technology,Zhengzhou 450001,China;China Railway Zhengzhou Bureau Group Corporation,Zhengzhou 450001,China)

机构地区：[1]河南工业大学电气工程学院,河南郑州450001 [2]中国铁路郑州局集团公司调度所,河南郑州450001

出　　处：《电工技术》2018年第18期160-162,共3页Electric Engineering

摘　　要：本文首先建立平面工作空间和障碍物的点云模型,并应用计算机图形学的方法得到无障碍边界曲线;其次,在考虑机器人运动起止点位置的基础上,通过几何包络算法给出了矩形避障包络曲线构成的路径;再次,基于机器人运动过程中的运动平滑性,通过二次和三次B样条曲线对上述路径进行光滑拟合;最后用cscvn函数进行三次样条插值对比。实验的仿真结果表明,不同的插值曲线都可以达到平滑的结果,验证了算法的有效性。This paper first establishes the point cloud model of the planar workspace and obstacles, and uses the computer graphics method to obtain the barrier free boundary curves. Secondly, based on the positions of the start and end points of the robot motion, the path formed by the rectangular obstacle avoidance envelope curve is given by the geometric envelope algorithm. Thirdly, based on the motion smoothness of the robot during motion, the above path is smoothly fitted by the quadratic and cubic B spline curves. Finally the cubic spline interpolation comparison is performed using the cscvn function. The experimental simulation results show that different interpolation curves can achieve smooth results, verifying the effectiveness of the algorithm.

关 键 词：路径规划 计算机图形学 样条曲线 平滑 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]