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针对多关节机械臂的运动避障问题,提出了一种基于避障工作空间路径规划方法。首先,利用基于射线和相交点的计算机图形学方法建立避障空间(简称为OAPW);其次,在避障空间内,利用D-H坐标方法和MATLAB Robotics工具箱建立了一个具有3个转动关节的机械臂模型;再次,通过最短路径的性能指标规划出最短路径。考虑到运动机械臂与障碍物之间的干涉问题,因此利用障碍物膨胀化方法规划出安全距离的最短路径。最后,运用运动学正反解和插值运算实现机械臂在无障碍物、避障、安全距离避障3种情况下的仿真。
Aiming at the motion obstacle avoidance problem of multi-joint manipulator, a path planning method based on obstacle avoidance workspace is proposed. First, obstacle avoidance space (referred to as OAPW) is established by computer graphics method based on ray and intersection point. Secondly, in the obstacle avoidance space, a machine with three rotating joints is established by DH coordinate method and MATLAB Robotics toolbox Arm model; Thirdly, the shortest path is planned through the performance index of the shortest path. Considering the problem of interference between the moving robot and the obstacle, the shortest path of the safety distance is planned by the method of expanding the obstacle. Finally, using the kinematic inverse solution and the interpolation operation to achieve the robot arm in the absence of obstacles, obstacle avoidance, safety distance obstacle avoidance simulation of the three cases.