超冗余度机械臂的路径安全性优化研究  

Planning Safe Optimal Path for Hyper Redundant Manipulator

作　　者：王建滨[1] 马培荪[1] 徐军[1] 郝颖明[2] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200030 [2]中国科学院沈阳自动化研究所机器人学重点实验室,沈阳110015

出　　处：《上海交通大学学报》2003年第5期710-714,共5页Journal of Shanghai Jiaotong University

基　　金：中国科学院沈阳自动化研究所机器人学重点实验室基金资助项目 (RL2 0 0 10 5)

摘　　要：提出了一个对超冗余度机械臂路径规划进行安全性优化的新方法 .采用一般随机路标法得到一个表示机械臂位形空间结构信息的路标 ,计算机械臂在各个位形下与障碍物之间的最小距离 ,并把此信息加到随机路标法所求的路标上 ,从而把路标转化为网格结构 .基于此网络 ,给出了一个对路径进行安全性优化的数学模型 ,利用其对超冗余度机械臂进行路径规划 .仿真结果表明 。This paper proposed a novel approach for planning the safe motion of hyper redundant manipulator. First, a roadmap which represents the configuration space of the manipulator is constructed by probabilistic roadmap method (PRM). Then, the information which denotes the minimum distance between manipulator and obstacles is appended on the edges of the roadmap, thereby, the roadmap whose structure is undirected graph transforms into network. Based on the network, the paper proposed a mathematical model for optimizing the safe motion of manipulator. The simulation result shows that the approach generates significantly the safer motion compared to that generated through the general PRM, which proves that the mathematical model is correct and the approach is feasible.

关 键 词：随机路标法 超冗余度机械臂 路径规划 图论 DIJKSTRA算法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]