六自由度机械臂的运动规划

为了使六自由度机械臂完成特定的动作,需要设计计算相应的指令序列.首先计算了机械臂位姿与指尖位置之间的关系公式,然后针对机械臂的到达问题、沿曲线运动问题和避障问题,分别提出目标位姿预测、曲线离散到达和受限目标到达三种解决方法,其中涉及的关键算法是自适应搜索法,该方法具有效率高、精度高、适用范围广的特点.在产生指令序列时采用贪心算法.通过以上方法得到的执行结果误差很小(<0.8mm),同时搜索收敛速度也很快.

The Trajectory Planning of a 6-DOF Manipulator

To make the 6-DOF manipulator to finish some kind of jobs,we need to prepare the instruction sequences to input.Firstly,this paper gives the function which decides the relationship between the pose of the manipulator and the position of the Fingertip.And then in order to solve the three jobs:the problem of arriving at some point,the problem of moving along a special curve,and the problem of avoiding obstacles,we design three methods:pose speculation,discretely arriving,and constrained arriving.The main algorithm is adaptive search,which is highly efficient,highly accurate and it can be used in many situations.When calculating the instructions we use greedy Algorithm.All of this results in very short time searching and very little errors(<0.8mm).