基于状态空间的机械臂轨迹规划

提出一种基于状态空间的机械臂轨迹规划方法,定义并构造了机械臂系统的状态空间,根据内在机构约束与外部环境约束描述出系统状态的可达范围,并给出了任务的可实现条件.对于可实现任务,在状态空间能搜索到任务完成的最优解.如果任务无法完成,则修改系统配置或约束,在新的状态空间确定任务实现的转化条件,并对任务的设计与规划给予指导.研究了障碍约束下两连杆机械臂的点到点任务,实验结果验证了该方法的有效性.

Trajectory planning for robot manipulators based on state space

This paper proposes a trajectory planning approach for robot manipulators based on state space.The state space of manipulator system is defined and constructed,by which the reachable scope of the system state is traced out according to the internal physical constraints and external environment constraints.Conditions of performing the task successfully are given.For realizable task,the optimal strategy for task execution is obtained by searching in state space.If the task is unrealizable,it could be transfor...