| 基于构型选优决策的冗余度机器人避障研究 |
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| 引用本文： | 赵京,刘先灿,刘宇.基于构型选优决策的冗余度机器人避障研究[J].北京工业大学学报,2011,37(9):1292-1297. |
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| 作者姓名： | 赵京 刘先灿 刘宇 |
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| 作者单位： | 北京工业大学机械工程与应用电子技术学院,北京,100124;北京工业大学机械工程与应用电子技术学院,北京,100124;北京工业大学机械工程与应用电子技术学院,北京,100124 |
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| 基金项目： | 国家自然科学基金资助项目(50775002,51075005) |
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| 摘 要： | 为了使冗余度机器人在障碍物环境下更好地完成末端操作任务,首先提出了一种新的基于构型选优决策的避障策略,它在保证避障和完成末端任务的同时使机器人的综合性能指标更优,然后利用3R-2P机器人的仿真及实验研究证明了所提方法的可行性.
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| 关 键 词： | 冗余度机器人 构型选优决策 避障 |
Obstacle Avoidance for Redundant Robot Based on the Optimal Decision of Configurations |
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| ZHAO Jing,LIU Xian-can,LIU Yu.Obstacle Avoidance for Redundant Robot Based on the Optimal Decision of Configurations[J].Journal of Beijing Polytechnic University,2011,37(9):1292-1297. |
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| Authors: | ZHAO Jing LIU Xian-can LIU Yu |
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| Affiliation: | (College of Mechanical Engineering and Applied Electronics Technology,Beijing University of Technology,Beijing 100124,China) |
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| Abstract: | To make a redundant robot implement the end-effector task in an obstacle environment,this paper first proposes a new collision avoidance strategy based on the optimal decision of configurations,which optimizes the comprehensive performance of the manipulator while avoiding obstacles.Then,the feasibility of the proposed approach is verified with the simulation and experiment of a 3R-2P redundant robot. |
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| Keywords: | redundant robot optimal decision of configurations collision avoidance |
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