基于简单模糊逻辑的冗余度机器人动力学路径规划新方法

论文提出了基于模糊逻辑的冗余度机器人避障算法,算法中利用模糊规则自动调整避障控制参数,使机器人在最短的时间内做出快速回避反应,提高了系统的智能性;另一方面,算法中利用动力学控制代替了位置控制,减少了避障过程中,由于速度突变引起的关节冲击力,提高了系统使用寿命。最后通过一平面三连杆三自由度机器人进行仿真研究,结果证实了该算法的有效性。

A New Dynamic Path Planning Approach for Redundant Manipulator Based on Simple Fuzzy Logics

In this paper,an approach to obstacle avoidance for redundant manipulator based on fuzzy logics is presented, which can enhance the intelligence of the system by adjusting the parameters of the obstacle avoidance controller with fuzzy rulers and make the manipulator avoiding the obstacle more quickly than other methods.On the other hand, the robot control system use dynamics method instead of position to command manipulators performance, so the impact force between manipulators each other caused by velocity break can be reduced greatly,which improves manipulators' life.At last,simulation examples for a planar 3R redundant robot are presented to validate this method.