基于RRT*算法的六自由度机械臂避障路径规划  

Obstacle avoidance planning of 6-DOF manipulator based on RRT*

作　　者：尹斌 卢文涛[1] 魏文卿 Yin Bin;Lu Wentao;Wei Wenqing(Luoyang Institute of Science and Technology,Luoyang Henan,471000)

机构地区：[1]洛阳理工学院,河南洛阳471000

出　　处：《电子测试》2021年第16期46-48,共3页Electronic Test

摘　　要：本文采用一种基于随机采样的避障路径规划算法—RRT*算法,解决六自由度机械臂的避障路径规划问题,并在机器人操作系统中搭建了仿真平台,验证RRT*算法的路径规划和渐进优化能力。In order to solve the problem of obstacle avoidance planning for 6-DOF manipulator,RRT*is adopted,which is a path planning algorithm based on random sampling.A simulation platform is built in the robot operating system to verify the path planning and gradual optimization ability of RRT*algorithm.

关 键 词：避障路径规划 六自由度机械臂 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]