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冗余度机器人梯度投影避障算法的改进

张立栋 李亮玉 王天琪

张立栋, 李亮玉, 王天琪. 冗余度机器人梯度投影避障算法的改进[J]. 机械科学与技术, 2015, 34(10): 1511-1516. doi: 10.13433/j.cnki.1003-8728.2015.1007
引用本文: 张立栋, 李亮玉, 王天琪. 冗余度机器人梯度投影避障算法的改进[J]. 机械科学与技术, 2015, 34(10): 1511-1516. doi: 10.13433/j.cnki.1003-8728.2015.1007
Zhang Lidong, Li Liangyu, Wang Tianqi. Improvement of Obstacle Avoidance Algorithm for a Redundant Robot Based on Gradient Projection Method[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(10): 1511-1516. doi: 10.13433/j.cnki.1003-8728.2015.1007
Citation: Zhang Lidong, Li Liangyu, Wang Tianqi. Improvement of Obstacle Avoidance Algorithm for a Redundant Robot Based on Gradient Projection Method[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(10): 1511-1516. doi: 10.13433/j.cnki.1003-8728.2015.1007

冗余度机器人梯度投影避障算法的改进

doi: 10.13433/j.cnki.1003-8728.2015.1007
基金项目: 

国家自然科学基金项目(51075299)资助

详细信息
    作者简介:

    张立栋(1989-),硕士研究生,研究方向为机器人路径规划,机器人仿真技术,zhanglidong009@126.com

    通讯作者:

    李亮玉,教授,博士,liliangyu1965@163.com

Improvement of Obstacle Avoidance Algorithm for a Redundant Robot Based on Gradient Projection Method

  • 摘要: 针对传统基于梯度投影法的避障算法只进行关节空间局部调整,无法实现冗余度机器人末端躲避障碍物的不足,提出一种改进的避障算法。借助人工势场思想,实时地规划出冗余度机器人末端的避障路径。同时以最短距离为指标,进行关节空间自运动调整。末端避障和关节自运动调整相结合,实现全局范围避障。最短距离计算采用解析方法,避免最短距离垂足落在杆件延长线上的问题。在MATLAB软件中进行了冗余度机器人避障仿真,规划用时1.73 s,证明改进后避障算法的有效性和高效性,并且能实现目标追踪过程中的动态避障。
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出版历程
  • 收稿日期:  2014-01-05
  • 刊出日期:  2015-10-05

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