| 基于隐式位姿空间分层量化的空间机械手无碰撞路径规划方法 |
| |
| 引用本文： | 吴为民.基于隐式位姿空间分层量化的空间机械手无碰撞路径规划方法[J].宇航学报,1996,17(4):44-49. |
| |
| 作者姓名： | 吴为民 |
| |
| 作者单位： | 浙江大学 |
| |
| 摘 要： | 本文在概述空间机械手无碰撞路径规划问题的特殊性的基础上提出了相应的路径规划策略。依据这些策略，本文描述了一种基于隐式位姿空间分层量化的路径规划划方法，并通过仿真验证了所提出规划策略和规划方法的有效性。
|
| 关 键 词： | 空间机械手 无碰撞路径规划 位姿空间 图搜索 |
COLLISION FREE PATH PLANNING ALGORITHM FOR SPACE MANIPULATORS BASED ON IMPLICIT HIERARCHICAL CONFIGURATION SPACE QUANTIZATION |
| |
| Wu Weimin.COLLISION FREE PATH PLANNING ALGORITHM FOR SPACE MANIPULATORS BASED ON IMPLICIT HIERARCHICAL CONFIGURATION SPACE QUANTIZATION[J].Journal of Astronautics,1996,17(4):44-49. |
| |
| Authors: | Wu Weimin |
| |
| Abstract: | Based on the brief discussion of specificities of collision path planning strategies. According to these strategies, this paper describes in detail a path planning algorithm based on implicit configuration space quantization. The presented path planning strategies and algorithm are verified by simulation. |
| |
| Keywords: | Space manipulators Collision free path planning Configuration space Graph searching |
| 本文献已被 维普 等数据库收录！ |
