| 双机器人时间优化的避碰轨迹规划研究 |
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| 引用本文： | 李平,孟庆鑫,王立权,朱兴华. 双机器人时间优化的避碰轨迹规划研究[J]. 机械设计, 2005, 22(8): 22-25 |
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| 作者姓名： | 李平 孟庆鑫 王立权 朱兴华 |
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| 作者单位： | 哈尔滨工程大学,机电工程学院,黑龙江,哈尔滨,150001;哈尔滨工程大学,机电工程学院,黑龙江,哈尔滨,150001;哈尔滨工程大学,机电工程学院,黑龙江,哈尔滨,150001;哈尔滨工程大学,机电工程学院,黑龙江,哈尔滨,150001 |
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| 摘 要： | 介绍了一种双机器人时间优化的避碰轨迹规划方法。根据单机器人的已知路径，在具有最大加减速度条件下规划其时间优化轨迹。通过几何建模，利用Euclidean函数表示双机器人间的最短距离，实现了系统的碰撞检测。采用在初始位置延迟最小时间的方法，获得了双机器人时问优化的无碰撞轨迹。最后建立了基于Motoman-UP6的双机器人仿真模型，验证了理论分析的正确性。
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| 关 键 词： | 双机器人系统 时间优化 避碰 轨迹规划 |
| 文章编号： | 1001-2354（2005）08-0022-04 |
| 收稿时间： | 2004-10-24 |
| 修稿时间： | 2004-10-24 |
Research on time-optimal and collision avoidance track planning of dual robots |
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| LI Ping,MENG Qing-xin,WANG Li-quan,ZHU Xing-hua. Research on time-optimal and collision avoidance track planning of dual robots[J]. Journal of Machine Design, 2005, 22(8): 22-25 |
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| Authors: | LI Ping MENG Qing-xin WANG Li-quan ZHU Xing-hua |
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| Abstract: | A kind of track planning method for time-optimal and collision avoidance dual robots was introduced. On the basis of the known path for single robot, and under the condition of possessing maximum acceleration and deceleration, its time-optimal track was planned. By means of geometric modeling, and utilizing Euclidean function to express the minimum distance between the two robots, thus realized collision detection of the system. Adopting the method of delaying minimum time in initial position, the time-optimal and collision avoidance track of dual robots was obtained. Finally, the simulative model of dual robots was established based on Motoman-UP6, and the correctness of theoretical analysis was verified. |
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| Keywords: | dual robots system time optimal collision a voidance track planning |
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