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移动机械臂无碰抓取方法的研究

杜峰 苏丽颖 焦继乐 曹志强

杜峰, 苏丽颖, 焦继乐, 曹志强. 移动机械臂无碰抓取方法的研究[J]. 机械科学与技术, 2016, 35(4): 535-538. doi: 10.13433/j.cnki.1003-8728.2016.0407
引用本文: 杜峰, 苏丽颖, 焦继乐, 曹志强. 移动机械臂无碰抓取方法的研究[J]. 机械科学与技术, 2016, 35(4): 535-538. doi: 10.13433/j.cnki.1003-8728.2016.0407
Du Feng, Su Liying, Jiao Jile, Cao Zhiqiang. A Method for Collision-free Grasp of Mobile Manipulator[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(4): 535-538. doi: 10.13433/j.cnki.1003-8728.2016.0407
Citation: Du Feng, Su Liying, Jiao Jile, Cao Zhiqiang. A Method for Collision-free Grasp of Mobile Manipulator[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(4): 535-538. doi: 10.13433/j.cnki.1003-8728.2016.0407

移动机械臂无碰抓取方法的研究

doi: 10.13433/j.cnki.1003-8728.2016.0407
基金项目: 

2013年度北京市教委青年拔尖人才培养计划项目与北京工业大学青年导师国际化能力发展计划项目(2014)资助

详细信息
    作者简介:

    杜峰(1989-),硕士研究生,研究方向为机器人学,ifeng125@qq.com

    通讯作者:

    苏丽颖(联系人),副教授,博士,sly@bjut.edu.cn

A Method for Collision-free Grasp of Mobile Manipulator

  • 摘要: 提出了一种基于A*算法的移动机械臂无碰抓取方法。根据机械臂的初始姿态和目标物体的空间位置以及障碍物的约束,利用A*算法规划出机械臂末端无碰的轨迹,进而利用冗余度机械臂多解的特性,结合逆运动学,给出障碍物约束下基于最小关节角偏移量优化指标的关节角优化方法。同时,机械臂可根据当前环境的变化更新其末端轨迹,并相应调整姿态以提高适应性。仿真验证了该算法的有效性。
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出版历程
  • 收稿日期:  2014-05-15
  • 刊出日期:  2016-04-05

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