应用比例导引法的探测机器人机械臂路径规划  

Path Planning of Detection Robot Manipulator Based on Proportional Navigation Method

作　　者：刘莹 邵彧 LIU Ying;SHAO Yu(College of Electronic Information Engineering,Sias University,He'nan Zhengzhou 451150,China)

机构地区：[1]郑州西亚斯学院电子信息工程学院,河南郑州451150

出　　处：《机械设计与制造》2023年第1期300-304,共5页Machinery Design & Manufacture

基　　金：河南省重点研发与推广专项—基于图像自适应特征融合的红枣病害识别方法研究(202102210157);河南省2020年民办普通高等学校学科建设专业建设资助项目(教办政法[2020]162号,计算机科学与技术专业)。

摘　　要：为加快机械臂路径规划速率、提升作业效率,在比例导引法的基础上,提出了探测机器人机械臂路径规划方法。通过RRT算法探索机器人的作业环境,经过滤和分配确定机械臂转动边界点信息;根据机械臂与探测目标间位置关系,计算二者在运动状态下相对距离变化率和视线角变化率,即可得到二者相对运动方程;引入比例导引法,计算探测目标的动态轨迹,在确保机械臂动态跟踪时间和路径最短的前提下,实现目标的探测。实验结果表明,所提方法具有较强的通用性,同时在路径规划和时间成本的控制上也展现出了明显的优势。In order to speed up the path planning speed and improve the operation efficiency of the manipulator,a path planning method for the manipulator of the detection robot is proposed based on the proportional navigation method.The working environment of the robot is explored by RRT algorithm,and the information of the rotation boundary points of the manipulator is determined by filtering and distribution;According to the position relationship between the manipulator and the detection target,the relative motion equation of the manipulator and the detection target can be obtained by calculating the relative distance change rate and the line of sight angle change rate;The proportional guidance method is introduced to calculate the dynamic trajectory of the detected target,and the target detection is realized on the premise of ensuring the shortest dynamic tracking time and path of the manipulator.Experimental results show that the proposed method has strong versatility,and also shows obvious advantages in path planning and time cost control.

关 键 词：比例导引法 探测机器人 路径规划 时间成本 动态跟踪 

分 类 号：TH16[机械工程—机械制造及自动化]