| 工业机器人圆周铺料路径规划研究 |
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| 引用本文： | 胡小田,曲东升,刘彦武.工业机器人圆周铺料路径规划研究[J].机械与电子,2014(8):78-80. |
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| 作者姓名： | 胡小田 曲东升 刘彦武 |
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| 作者单位： | 哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150000 |
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| 摘 要： | 针对工业机器人圆周铺料作业需求,研究了现有的避障路径规划方法。分析了末端操作手在凹形障碍物中的自由运动空间,改进了A*算法的估价函数,设计了关于姿态角的估计路径耗费,并将估价函数引入RRT算法中,同时提出了基于RRT思想的A*算法。最后,通过仿真实验验证了改进后算法的可行性,并对比了各算法的执行效率。
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| 关 键 词： | 工业机器人 位姿路径规划 基于RRT的A*算法 改进A*算法 改进RRT算法 |
Path Planning for Industrial Robot Used in Paving Material in Barrel |
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| HU Xiaotian,QU Dongsheng,LIU Yanwu.Path Planning for Industrial Robot Used in Paving Material in Barrel[J].Machinery & Electronics,2014(8):78-80. |
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| Authors: | HU Xiaotian QU Dongsheng LIU Yanwu |
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| Affiliation: | (State Key Laboratory of Robotics and System, Harbin Institude of Technology, Harbin 150000 ,China) |
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| Abstract: | The path planning algorithms for the terminal hand of industrial robot are modified to meet the demands of paving material in barrel after analysing the free motion space of the terminal hand.Firstly,modifying the evaluation function used in A＊ algorithm by adding the evaluation function of the angle of the terminal hand.Second-ly,modifying RRT algorithm by using evaluation function.Thirdly,proposing the modified A＊ algo-rithm based on the RRT algorithm.Lastly,confir-ming that the modified algorithms are feasible;and comparing the efficiency of these algorithms to find out the best algorithm. |
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| Keywords: | industrial robot path planning of position and pose A＊ algorithm based on RRT algorithm the modified A＊ algorithm the modified RRT algorithm |
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