操作机器人的行为动力学避障路径规划

魏明明; 傅卫平; 蒋家婷; 杨世强; 王雯

doi:10.13433/j.cnki.1003-8728.2015.1206

操作机器人的行为动力学避障路径规划

doi: 10.13433/j.cnki.1003-8728.2015.1206

1.
西安理工大学机械与精密仪器工程学院, 西安 710048;
2.
西安工业大学机电工程学院, 西安 710032

基金项目:

国家自然科学基金项目(10872160)与陕西省自然科学基础研究基金计划重点项目(2011JZ012)资助

详细信息

作者简介:
魏明明(1978-),讲师,博士研究生,研究方向为智能机器人,weimm@xatu.edu.cn

计量
- 文章访问数: 182
- HTML全文浏览量: 32
- PDF下载量: 16
- 被引次数: 0
出版历程
- 收稿日期: 2014-02-21
- 刊出日期: 2015-12-05

Path Planning for Manipulator to Avoid Obstacle Based on Dynamics of Behavior

1.
School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an 710048, China;
2.
School of Mechatronic Engineering, Xi'an Technological University, Xi'an 710032, China

摘要

摘要: 将移动机器人行为动力学理论扩展到操作机器人三维空间,并应用到机器人路径规划中。在机器人动力系统中,将操作机器人末端执行器到达的目标位置作为吸引子,将所需绕过的障碍物作为排斥子,分别建立了趋向目标点和避障的行为动力学模型,并将两种行为耦合构成机器人整体的竞争动力学模型。仿真和实验结果表明:在行为动力学方程的控制下,末端执行器在避开障碍物的同时,安全有效的到达了目标点,证明了文中方法的有效性。
- 行为动力学 /
- 操作机器人 /
- 吸引子 /
- 排斥子 /
- 路径规划
Abstract: The theory of mobile robot behavioral dynamics is extended to three-dimensional space of manipulator, and is applied to the path planning in its work space. In this paper, the behavior of end-effector of manipulating robot reaching target is generated as the attractor in dynamical system, and behaviors of bypassing obstacles are generated as the repellors. The dynamic model of target acquisition and obstacle avoidance are established respectively, and these two kinds of behavior constitute an overall coupling and competitive robot dynamics model. Simulation and experimental results show that: under the control of the dynamics equations, the end-effector while avoiding obstacles can reach the target safely and effectively, demonstrating the effectiveness of the proposed method.
- analytic hierarchy process /
- CCD camera /
- collision avoidance /
- computer simulation /
- design of experiments

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参考文献(15)

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