基于几何分析的机械臂运动路径规划问题研究

设计了分步-搜索逼近算法,解决了六自由度机械臂的位姿逆运算问题,使机械臂完成指尖到达指定目标点、沿指定曲线轨迹移动等动作.针对避障问题,设计了扫描截面的避碰算法.在此基础上,给出了机械臂作业的通用算法,并对所建模型和算法进行了实际检验.最后,分析了机械臂的设计参数,并提出了改进建议.

Path Design of a Robot Manipulator Based on Geometrical Analysis

An algorithm called Multi-step Hunting is designed to solve the inverse kinematics problem of a six-degree Robot Manipulator,and it enables the fingertip to reach the appointed target and to move along the appointed curvilinear track.Next,a method of section-scanning is used to avoid obstacles,a universal algorithm is advanced for the motion of the Manipulator,and then actual tests of the established model and algorithms are carried out.Finally,the parameters of the current Robot Manipulator are analyzed,and some advice of design is given.