关节型码垛机器人自主避障的方法研究

码垛机器人在某种具体工作环境中,抓取位置和垛盘之间可能存在障碍物,由此给码垛作业带来了困难。为了解决码垛作业的避障问题,提出一种实现自主避障的轨迹规划方法,该方法主要包括障碍物信息分析、运动检测以及避障规划等部分。首先以一种新型码垛机器人为研究对象,采用解析几何法分析研究此码垛机器人的运动学模型并确定其工作空间,然后通过分析和检测障碍物信息设计出自主避障的方法,最后基于OpenGL仿真软件验证此方法的正确性。仿真结果表明该方法简单有效,通用性强。

Research on the Method of Autonomous Obstacle Avoidance of Joint Palletizing

In a particular environment, palletizing robots are not often open between grab position and pallet, and the presence of obstacles often brings difficulty to palletizing operations. In order to solve the obstacle avoidance problem of palletizing operation, this paper presents a new method of planning based on dynamic obstacle avoidance by using a new palletizing robot as the research object. Firstly, the kinematics of the palletizing robot is analyzed and analyzed Space, and then through the quantitative and detection of obstacle information proposed a way of self-obstruction, and finally through OpenGL simulation software to verify the correctness of this method. The method is simple and effective, versatile.