三自由度机械臂避障空间路径规划研究
|
摘要
文章首先通过MATLAB Robotic Toolbox和Denavit-Hartenberg (D-H)参数对机械臂进行了运动学建模;然后,基于点云的Monte Carlo (蒙特卡洛)方法建立三自由度机械臂工作空间和障碍物点云模型,应用几何学得出机械臂和障碍物之间的位置关系,确定机械臂的避障工作空间;最后,基于Dijkstra算法在三维避障工作空间中进行路径规划得出最短路径,验证了算法的可行性。
Firstly,the kinematics modeling of the manipulator was carried out by MATLAB Robotic Toolbox and DenavitHartenberg(D-H)parameters.Secondly,based on the Monte Carlo method of point cloud,the workspace and obstacle point cloud model of three-degree-of-freedom manipulator were established.The position relationship between the manipulator and the obstacle was obtained by using geometric position relation,and the obstacle avoidance workspace of the manipulator was determined.Finally,the shortest path was obtained by path planning in 3 Dobstacle avoidance workspace based on Dijkstra algorithm,which verified the feasibility of the algorithm.
Firstly,the kinematics modeling of the manipulator was carried out by MATLAB Robotic Toolbox and DenavitHartenberg(D-H)parameters.Secondly,based on the Monte Carlo method of point cloud,the workspace and obstacle point cloud model of three-degree-of-freedom manipulator were established.The position relationship between the manipulator and the obstacle was obtained by using geometric position relation,and the obstacle avoidance workspace of the manipulator was determined.Finally,the shortest path was obtained by path planning in 3 Dobstacle avoidance workspace based on Dijkstra algorithm,which verified the feasibility of the algorithm.
引文
[1]Siciliano B,Sciavicco L,Villani L,et al.Robotics-Modelling,Planning and Control.Advanced Textbooks in Control and Signal Processing Series[Z].London,UK:SpringerVerlag,2009.
[2]Peter Corke.Robotics,Vision and Control Fundamental Algorithms in MATLAB Series[Z].London,UK:SpringerVerlag,2011.
[3]肖南峰.工业机器人[M].北京:机械工业出版社,2011.
[4]Yang X,Wang H,Zhang C,et al.A method for mapping the boundaries of collision-free reachable workspace[J].Mechanism&Machine Theory,2010,45(7):1024-1033.
[5]Cao Y,Lu K,Li X,et al.Accurate Numerical Methods for Computing 2Dand 3D Robot Workspace[J].International Journal of Advanced Robotic Systems,2011,8(6):1-13.
[6]Cao Y,Guo M,Li Y.Obstacle-free workspace based path planning for serial manipulator[C].Control Conference,2017.
[7]Ya-Yun L I,Cao Y,Shi Q S.Path planning for planar robot manipulator based on obstacle avoidance workspace[J].Machine Tool&Hydraulics,2016.
[8]李磊,叶涛,谭民,等.移动机器人技术研究现状与未来[J].机器人,2002,24(5):475-480.
[9]高晓巍.移动机器人的路径规划与仿真[J].计算机仿真,2013,30(7):379-382.
[10]王树西,李安渝.Dijkstra算法中的多邻接点与多条最短路径问题[J].计算机科学,2014(6).
[11]Ammar A,Bennaceur H,ChariI,et al.Relaxed Dijkstra and A*with linear complexity for robot path planning problems in large-scale gridenvironments[J].Soft Computing,2016.
[2]Peter Corke.Robotics,Vision and Control Fundamental Algorithms in MATLAB Series[Z].London,UK:SpringerVerlag,2011.
[3]肖南峰.工业机器人[M].北京:机械工业出版社,2011.
[4]Yang X,Wang H,Zhang C,et al.A method for mapping the boundaries of collision-free reachable workspace[J].Mechanism&Machine Theory,2010,45(7):1024-1033.
[5]Cao Y,Lu K,Li X,et al.Accurate Numerical Methods for Computing 2Dand 3D Robot Workspace[J].International Journal of Advanced Robotic Systems,2011,8(6):1-13.
[6]Cao Y,Guo M,Li Y.Obstacle-free workspace based path planning for serial manipulator[C].Control Conference,2017.
[7]Ya-Yun L I,Cao Y,Shi Q S.Path planning for planar robot manipulator based on obstacle avoidance workspace[J].Machine Tool&Hydraulics,2016.
[8]李磊,叶涛,谭民,等.移动机器人技术研究现状与未来[J].机器人,2002,24(5):475-480.
[9]高晓巍.移动机器人的路径规划与仿真[J].计算机仿真,2013,30(7):379-382.
[10]王树西,李安渝.Dijkstra算法中的多邻接点与多条最短路径问题[J].计算机科学,2014(6).
[11]Ammar A,Bennaceur H,ChariI,et al.Relaxed Dijkstra and A*with linear complexity for robot path planning problems in large-scale gridenvironments[J].Soft Computing,2016.