一种能应付突发意外事件的装配机器人运动规划研究

本文基于运动规划的拓扑方法，针对机械手的装配环境，提出了一种能应付突发意外事件－即能躲避突发障碍继续到达目标位置的运动规划方法，该方法主要包含三部分：用已知信息进行运动规划；遇到突发障碍后进行局部调整；局部调整失败时进行全局重规划，本文给出一种运动规划器ＥＴＴＭＰ，经实验测试，该规划器具有较强的鲁棒性和实时性，为智能机器人的实用化研究提供了一种方法。

Research of Emergency-Tolerant Motion Planning for Assembly Robots

Previous researches of robot motion planning are based on known and invariant environmental model. However, there are uncertainty and emergency in the real world. In this paper, an emergencytolerant motion planning method is presented based on topological method mainly for manipulator arms in an assembly workspace. The emergency-tolerant means that the robot can reach the goal by avoiding the unexpected obstacles. A robust and real-time emergency-tolerant topological motion planner ETTMP is thus constructed.