| 机器人操作机的建模及避障研究 |
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| 引用本文： | 王伟,储林波,余承业.机器人操作机的建模及避障研究[J].南京航空航天大学学报(英文版),2000,17(1):4-9. |
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| 作者姓名： | 王伟 储林波 余承业 |
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| 作者单位： | 1. 南京航空航天大学机电工程学院,南京,210016
2. 哈尔滨工业大学机器人研究所,哈尔滨,150001 |
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| 摘 要： | 介绍了机器人智能路径规划系统-RIPPS.该系统可用作机器人离线编程工具.系统由几何建模,运动学建模及路径规划三部分构成.用户利用其几何建模功能建立分布着障碍物体的机器人工作环境,通过输入参数利用机器人运动学建模功能来定义机器人操作机.系统的路径规划器根据指定的机器人起始位姿及目标位姿产生准优化路径,首先将障碍物体变换到位姿空间中,再在位姿空间中进行路径搜索.作者已在SGI/4D70工作站上进行了有效的仿真研究,下一步工作是在商业化机器人上实现该规划系统.
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| 关 键 词： | 机器人 建模 避障 位姿空间 启发式搜索 |
MODELING OF ROBOT MANIPULATOR AND OBSTACLE AVOIDANCE |
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| Wang Wei,Chu Linbo,Yu Chengye.MODELING OF ROBOT MANIPULATOR AND OBSTACLE AVOIDANCE[J].Transactions of Nanjing University of Aeronautics & Astronautics,2000,17(1):4-9. |
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| Authors: | Wang Wei Chu Linbo Yu Chengye |
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| Abstract: | A robot intelligent path planning system-RIPPS is developed, which can be utilized for a robot off-line programming tool. The system consists of three parts: geometric modeler, kinematic modeler and path planer. The geometric modeler is used to construct the robot working environment cluttered with obstacles and the robot kinematic modeler to define robot manipulators by the input parameters. Giving robot start and the goal configurations, the path planer can produce a quasi-optimal path. By transforming obstacles into the C-space to form C-obstacles, the path searching is performed in C-space. The planning simulations are performed on a SGI workstation, the future research is to implement the planer on a commercial robot manipulators. |
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| Keywords: | robots modeling obstacle avoidance configuration space heuristic search |
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