多自由度机械臂路径优化研究  

Path optimization of the multi-degree-of-freedom manipulator

作　　者：封亚凯 杨大利[1] 侯凌燕[1] 梁旭 佟强 FENG Yakai;YANG Dali;HOU Lingyan;LIANG Xu;TONG Qiang(Computer Open Systems Laboratory,Beijing Information Science&Technology University,Beijing 100101,China)

机构地区：[1]北京信息科技大学计算系统开放实验室,北京100101

出　　处：《北京信息科技大学学报（自然科学版）》2022年第2期30-37,共8页Journal of Beijing Information Science and Technology University

基　　金：北京市教委科研计划一般项目(KM202111232003)。

摘　　要：针对机械臂路径规划中的点动函数计算复杂度高,规划过程耗时长的问题,在确保运动精度的条件下,通过改进多自由度点动函数,使得规划路径更优的同时降低了计算复杂度,从而减少了机械臂的运行时间和路径求解时间;采用两步定位方法进一步减少所用时间。实验结果表明所提方法能够更快逼近目标位姿,与原点动函数普通定位方法相比用时减少了31.64%。For the problems of high computational complexity and long time-consuming planning process of the point motion function in the path planning of the manipulator,the multi-degree-of-freedom point motion function was improved to make the planning path better and reduce the computational complexity under the condition of ensuring the motion accuracy,so as to reduce the running time and path solving time of the manipulator;a two-step positioning method was proposed to further reduce the sum of path solving and manipulator running time.The experimental results show that the proposed method can approach the target pose faster,and the time is reduced by 31.64%compared with the ordinary positioning method of origin moving function.

关 键 词：多自由度机械臂 路径优化 最优颗粒度 两步定位 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]