| 机械臂运动路径规划的算法设计 |
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| 引用本文： | 朱猛,邓国兴,姜宇.机械臂运动路径规划的算法设计[J].数学的实践与认识,2008,38(14). |
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| 作者姓名： | 朱猛 邓国兴 姜宇 |
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| 作者单位： | 华南理工大学,计算机科学与工程学院,广州,510006 |
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| 摘 要： | 我们对题目中所给的特定的六自由度机械手臂设计一整套通用的算法.让它能够实现点到点移动,有障碍的曲线跟踪,和避障点对点移动三种基本功能.并能自动生成控制台所需要的指令序列.最后我们会对模型的适用范围和准确性进行评价.
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| 关 键 词： | 齐次坐标变换 避障问题 路径规划 曲线跟踪 人工势场 机械优化设计 |
Motion Planning Algorithm Design for 6-DOF Robot Arm |
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| ZHU Meng,DENG Guo-xing,JIANG Yu.Motion Planning Algorithm Design for 6-DOF Robot Arm[J].Mathematics in Practice and Theory,2008,38(14). |
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| Authors: | ZHU Meng DENG Guo-xing JIANG Yu |
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| Abstract: | A set of algorithms are developed to control the six-degree-of-freedom robot arm,for achieving three basic types of function:point-to-point movement,curve trajectory tracking with obstacles involved and obstacle-avoiding point-to-point algorithm.By combining the basic functions with different order,the algorithms are able to generate code sequences which can be used directly to manipulate the robots.Finally,the feasibility and accuracy of the model are evaluated. |
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| Keywords: | homogenous coordinate transformation obstacle-avoiding route planning curve tracking potential field mechanism optimal design |
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