关于机械臂蔽障问题的研究

关于机械臂蔽障问题的研究钟悦查阅的英文文献1.Aneffectiverobottrajectoryplanning2.Anon-linecartesianspaceobstacleavoidanceschemeforrobotarms3.Apathplanningalgorithmforindustrialrobot4.Optimummotionplanninginjointspaceforrobotsusinggeneticalgorithms5.Anobstacleavoidancecontrolschemeforthe“Morayarm”onthebasisofposturespaceanalysis6.Robotplanningandcontrol7.Pathplanningwithobstacleavoidanceasappliedtoaclassofspacebasedflexiblemanipulators查阅的中文文献1.一种六自由度机械臂避障算法研究2.空间站机械臂研究3.多关节轻型机械臂的设计研究4.基于几何分析的机械臂运动路径规划问题研究5.对六自由度机械臂运动路径设计的探讨6.一种串联机械臂通用位置逆解方法研究7.机械臂运动路径设计问题Anobstacleavoidancecontrolschemeforthe“Morayarm”onthebasisofposturespaceanalysisShugenMa,IsaoKobayashiAbstract“Morayarm”isaslider-installedmanipulatorthathaslargedegreesofkinematicredundancy,thuspossessesunconventionalfeaturessuchastheabilitytoenteranarrowspacewhileavoidingobstacles.Inthisstudy,anobstacleavoidancecontrolschemefortheMorayarmisproposed,whichisbasedonthe2-DOFMoraydrivecontrolmethodandtheposturespaceanalysis.The2-DOFMoraydrivecontrolderogatesthecontrolproblemofthehyper-redundantdegreesoffreedom(DOFs)tothesimpleoneof2DOFs:oneofthecontrolvariablessignifiesthelinearcombinationoftheobjectiveinitialandfinalposturesofthearm,whileanotheroneexpressestheamountofthepull-out-displacementwhenpullingthearmoutofthehousingslider.Theobstaclecollision-freetrajectoryisgeneratedfortheMorayarmbyanalyzingadefined“posturespace”thatisdeterminedbytheabove-statedtwovariables.Simulationsareexecutedtoverifytheproposedscheme,andshowthattheschemeworkswellinthecaseofthestaticenvironment.“海鳗机械臂”原理图机械臂的结构Morayarmisahyper-redundantmanipulatorcomposedofamultijointarmandapowerfulslide此设计的应用领域护理病人水下机器人:（a）传统机械臂（b）海鳗机械臂文章的主要部分1.Introduction2.Morayarmanditscontrolmethods3.ObstacleavoidancecontrolalgorithmforMorayarm4.Simulationsandexperiments5.ConclusionsIntroductionMorayarmanditscontrolmethodsMoraydrivecontrolgeneratesrotatingmotionofthejointsinsynchronizationwithlinearmotionofthesliderwhilerestrictingthearmonthetrajectory.Inthismotion,thearmisdrawnbackfromtheinitialpositioncompletelyintothehousing,andforthfromthehousingintofinalposition,whilealljointsofthearmarerestrictedtothe“path-of-arm-axis”thatisdefinedasthetrajectorysmoothlyconnectingthesuccessivejointsofthearminitsposture.ObstacleavoidancecontrolalgorithmforMorayarm1.DrawastraightlinefrominitialpointStoendpointE,andfindoutallintersectionpointsS’iandE’iwithobstaclei2.Calculatetwopartsofeachobstacle’scontoursconnectingthepointsS’iandE’i,wheretheonetocollidewithobstaclesortoexceedthemotionlimitswasexcludedhere.3.Connecteachpartofpossibletrajectories,whicharenotcollidingwithobstaclesandnotexceedingmotionlimits(straightlinefromStoS’1,eachobstacle’scontoursfromS’itoE’i,straightlinefromE’i−1toS’i,andstraightlinefromE’KtoE),togenerateallpossibleobstaclecollision-freetrajectories.4.Selecttheshortestoneamongthetrajectories.更优化的路径谢谢！