一种可变形桁架避障规划方法*

摘要： 为解决VGT的避障规划问题，给出一种等效机械臂模型并分析单级VGT正向递推运动学中的冗余问题.针对等效模型，利用遗传算法设计避障规划算法得到等效模型变量，再反算VGT各级可调杆长度得到VGT的避障算法.所得结果使得VGT等效机械臂模型各级具有相同的移动关节长度，且相邻两级转动关节角度变化较小.对避障规划结果和VGT到等效模型的变换进行仿真验证对比，验证算法有效性.

A Method on Obstacle Avoidance Planning for Variable Geometry Truss

To design the obstacle avoidance planning method for variable geometry truss (VGT), an equivalent manipulator model is proposed. The redundant problem in the forward kinematics of single VGT is analyzed and a truss geometry is obtained with the only solution if each varied link is specified. The obstacle avoidance planning for the equivalent model is designed using genetic algorithm and optimized variables of equivalent model are obtained. Accordingly, the length of each varied link is obtained and the geometry of VGT could also be computed with the forward kinematics. In the optimized geometry of VGT, distances among middle points of fixed links remain constant and angle differences among VGT modules are small. The effectiveness of the proposed algorithm is shown via numerical simulations.