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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

魏明明, 傅卫平, 蒋家婷, 杨世强, 王雯. 操作机器人的行为动力学避障路径规划[J]. 机械科学与技术, 2015, 34(12): 1837-1840. doi: 10.13433/j.cnki.1003-8728.2015.1206
引用本文: 魏明明, 傅卫平, 蒋家婷, 杨世强, 王雯. 操作机器人的行为动力学避障路径规划[J]. 机械科学与技术, 2015, 34(12): 1837-1840. doi: 10.13433/j.cnki.1003-8728.2015.1206
Wei Mingming, Fu Weiping, Jiang Jiating, Yang Shiqiang, Wang Wen. Path Planning for Manipulator to Avoid Obstacle Based on Dynamics of Behavior[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(12): 1837-1840. doi: 10.13433/j.cnki.1003-8728.2015.1206
Citation: Wei Mingming, Fu Weiping, Jiang Jiating, Yang Shiqiang, Wang Wen. Path Planning for Manipulator to Avoid Obstacle Based on Dynamics of Behavior[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(12): 1837-1840. 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
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

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

  • 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。
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出版历程
  • 收稿日期:  2014-02-21
  • 刊出日期:  2015-12-05

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